Systems and methods for perception surface cleaning, drying, and/or thermal management with localized heating

ABSTRACT

Systems and methods for cleaning, drying, and thermally managing vehicle components are described herein. In some embodiments, the vehicle components can include various sensors and, more particularly, the surfaces of cameras, LIDAR sensors, etc., that need to be clean to effectively perceive the environment around the vehicle. In one embodiment, a cleaning system includes a central delivery system configured to route fluid, such as washer fluid, along one or more delivery channels to remote holding chambers. The holding chambers can hold and/or heat the fluid before delivering the fluid to nozzles that spray the fluid on nearby vehicle components to clean the components.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to (i) U.S. Patent Application No.62/690,350, titled “SYSTEM FOR PERCEPTION SURFACE CLEANING AND THERMALMANAGEMENT,” and filed Jun. 27, 2018; (ii) U.S. Patent Application No.62/717,583, titled “SELECTIVE DELIVERY OF WASHER FLUID FOR TEMPERATURECONTROL,” and filed Aug. 10, 2018; (iii) U.S. Patent Application No.62/731,004, titled “COMBINED SYSTEM OF HEATED WASHER FLUID AND FORCEDGAS DRYING FOR VEHICLE SURFACE CLEANING,” and filed Sep. 13, 2018; and(iv) U.S. Patent Application No. 62/917,825, titled “ELECTRIC WASHERFLUID HEATING SYSTEM,” and filed Dec. 31, 2018, each which isincorporated herein by reference in its entirety.

TECHNICAL FIELD

The present technology relates to systems and methods for cleaningvehicle components including perception surfaces, such as sensors,windshields, mirrors, headlamps, etc.

BACKGROUND

Vehicle operation requires the ability to see. Historically, this hasmeant that a human driver must be able to see around a vehicle they areoperating to safely operate the vehicle. However, as automobiles, heavytrucks, and other vehicles have evolved over time, so too have thesystems and components that enable the driver's ability to perceive thevehicle's surroundings. Examples include the invention of windshields,windshield wipers, wiper fluid, headlights, high beams, tail signals,stop signals, turn signals, marker lights, rear and side view mirrors,window defogging systems, window tinting, window shades, etc. Morerecently, examples include sensors like backup cameras, radar, and otheradvanced driver assistance systems (ADAS), which further include LIDAR,FLIR night vision, sonar, etc. It is expected that vehicles willincreasingly rely on an array of perception sensors like cameras andLIDAR to “see” and navigate. Accordingly, it is expected that the safeand effective operation of vehicles will increasingly depend uponreliable functioning of such perception systems.

A vehicle's perception surfaces (e.g., windshield, mirrors, headlamps,sensors, etc.) are affected by the environment in which the vehicleoperates. Common environmental obstructions include snow, ice, mud,insect splatter, and bird droppings. A vehicle can be expected toexperience a variety of these situations in any given trip, leading tofrequent and fast-developing changes in its ability to “see,” as well asthe driver's ability to see. Further, vehicles are often stored outsidein ever-changing environmental situations. A common occurrence iswindshield frost, which can be difficult to manually remove, and whichtoday's vehicle systems often struggle to remove in less than tenminutes. This results in vehicles being left to cold idle, whichconsumes fuel, results in unnecessary vehicle emissions, and wastesdrivers' time. Moreover, some drivers may start drivingprematurely—before having clear and safe vision—increasing thelikelihood of accidents.

Current vehicle designs may include several systems for removingobstructions from perception surfaces, such as electric heaters, warmair flow, specialized coatings, mechanical wipers, wiper fluid,vibrating surfaces, and spinning surfaces. Electric heaters, forexample, often consist of thin wires embedded in surfaces to be clearedof ice (e.g., a windshield) or in materials put in contact with thesurfaces, and can still require ten or more minutes to effectively cleara surface. Moreover, such heaters provide heat for deicing—but do notdissolve, mechanically remove, or mobilize other obstructions away fromthe surface. In some instances, such systems can add significantly tothe cost of a vehicle, particularly for surfaces, such as a windshield,that may be damaged or replaced during a vehicle's lifetime.

Oppositely, wipers and fluid can dissolve, mobilize, and mechanicallyremove some obstructions. However, they are inadequate for many types ofobstructions, and they do not provide thermal energy to hasten removalof ice, snow, bug splatter, etc. Further, washer fluid is commonlycomposed of water and up to 50% alcohol (methanol or ethanol) to ensurethat wiper fluid does not freeze or “refreeze” after application (e.g.,spraying)—which can reduce visibility and/or damage the vehicle as thefrozen fluid expands. An unfortunate side effect of using alcohol is thestrongly inverted correlation between temperature and fluid viscosity.Cold alcohol-water mixtures have been shown to have viscosity five (ormore) times higher than warm fluid, resulting in situations where warmfluid sprays evenly across the windshield, but cold fluid trickles outand only reaches a short distance from the spray nozzles at greatlyreduced flow rates. Therefore, it is highly desirable to heat washerfluid before pumping it onto perception surfaces of a vehicle.

One challenge with the use of washer fluid in surface cleaning is thatwasher fluid is consumed in the process. Bottled washer fluid (oradditive concentrate added to water) can be expensive, requires effortto replace, and washer fluid reservoirs take space and add significantweight to a vehicle. Vehicle engineers place a high premium on theweight and volume of vehicular systems, especially when a vehicle'sdesign borders on a weight class limit. Systems that do not efficientlyuse washer fluid will result in inconvenience and cost to the vehicleowner and may not be readily implemented in automotive designs byengineers. Therefore, it is highly desirable to utilize as little washerfluid as possible in cleaning perception surfaces.

Moreover, washer fluid premixes can pollute the air, ground, and water,which is becoming more problematic as the number of vehicles in theworld increases (presently there are over 1 billion vehicles andgrowing). For example, the European Union (EU) has passed strictrestrictions on the amount of antifreeze that may be in washer fluid.Therefore, vehicles in the EU commonly have warming coils, electricallyheated washer hoses, and/or electrically heated nozzles to thaw andmaintain washer fluid above freezing. An associated problem withefficiently providing heated fluid to perception surfaces withoutwasting fluid is that any tubing carrying heated washer fluid from theheating source to the point of application loses heat to the surroundingenvironment. Even when fluid in this tubing is very hot, it quicklycools and approaches ambient temperature. To subsequently deliver hotfluid through the tubing, the previously cooled fluid must first beremoved from the tubing (e.g., via spraying) prior to the arrival anddelivery of hot fluid. Accordingly, more effective means to economize onwasher fluid usage and improve the efficiency of its use have become asignificant need for the future—especially where autonomous or othervehicles may include many vehicle components (e.g., 30 or more pervehicle) that require periodic cleaning.

Additionally, perception devices, such as high-resolution electroniccameras, LIDAR systems, LED lighting system, etc., generate heat thatcan increase the operating temperatures of these devices above theirindicated operating ranges. Moreover, when temperatures rise, thelifetime and performance of such devices decrease. Similarly, otherdevices within a vehicle—such as those containing batteries—must bemaintained within certain temperature ranges and can therefore benefitfrom heating. These temperature constraints often present challengeswith locating and mounting the devices on a vehicle, and with the designand packaging of the devices themselves. For example, devices that tendto overheat typically require larger surface areas or even supplementalcooling fins, such as those found on the back of LED headlights.

BRIEF DESCRIPTION OF THE DRAWINGS

Many aspects of the present technology can be better understood withreference to the following drawings. The components in the drawings arenot necessarily to scale. Instead, emphasis is placed on clearlyillustrating the principles of the present technology.

FIG. 1 is a block diagram of a vehicle configured in accordance with anembodiment of the present technology.

FIG. 2 is a schematic illustration of a perception surface systemconfigured in accordance with an embodiment of the present technology.

FIG. 3 is a schematic illustration of a perception surface cleaningsystem for cleaning one or more perception components configured inaccordance with an embodiment of the present technology.

FIG. 4 is a schematic illustration of a perception surface cleaningsystem including an in-line heater configured in accordance with anembodiment of the present technology.

FIG. 5 is a schematic illustration of a perception surface cleaningsystem for selectively cleaning one or more perception componentsconfigured in accordance with an embodiment of the present technology.

FIG. 6 is a schematic illustration of a perception surface cleaningsystem for selectively cleaning one or more sensors with heated fluidconfigured in accordance with an embodiment of the present technology.

FIG. 7 is a schematic illustration of a perception surface cleaningsystem for selectively cleaning one or more sensors with heated fluidconfigured in accordance with another embodiment of the presenttechnology.

FIG. 8 is a schematic illustration of a perception surface cleaningsystem for selectively cleaning one or more sensors with heated fluidconfigured in accordance with another embodiment of the presenttechnology.

FIG. 9 is a schematic illustration of a perception surface cleaningsystem for selectively cleaning one or more sensors with heated fluidconfigured in accordance with another embodiment of the presenttechnology.

FIG. 10 is a schematic illustration of a perception surface cleaningsystem for cleaning one or more sensors with heated fluid, and forrecirculating the heated fluid, configured in accordance with anembodiment of the present technology.

FIG. 11 is a schematic illustration of a perception surface cleaningsystem for cleaning one or more sensors with heated fluid, and forrecirculating the heated fluid, configured in accordance with anotherembodiment of the present technology.

FIG. 12 is a schematic illustration of a perception surface cleaningsystem for cleaning one or more sensors with heated fluid, and forrecirculating the heated fluid, configured in accordance with anotherembodiment of the present technology.

FIG. 13 is a schematic illustration of a perception surface cleaningsystem for cleaning one or more sensors with heated fluid, and forrecirculating the heated fluid, configured in accordance with anotherembodiment of the present technology.

FIG. 14 is a schematic illustration of a perception surface cleaningsystem for cleaning one or more sensors with heated fluid, and forrecirculating the heated fluid, configured in accordance with anotherembodiment of the present technology.

FIG. 15 is a schematic illustration of a perception surface cleaning andtemperature control system configured in accordance with an embodimentof the present technology.

FIG. 16 is a schematic illustration of a perception surface cleaning andtemperature control system configured in accordance with anotherembodiment of the present technology.

FIG. 17 is a schematic illustration of a perception surface cleaning andtemperature control system configured in accordance with anotherembodiment of the present technology.

FIG. 18 is a schematic illustration of a perception surface cleaning anddrying system configured in accordance with an embodiment of the presenttechnology.

FIG. 19 is a schematic illustration of a perception surface cleaning anddrying system configured in accordance with another embodiment of thepresent technology.

FIG. 20 is a schematic illustration of a perception surface cleaning anddrying system configured in accordance with another embodiment of thepresent technology.

FIG. 21 is a schematic illustration of a perception surface cleaning anddrying system configured in accordance with another embodiment of thepresent technology.

FIG. 22 is a schematic illustration of a perception surface cleaning anddrying system configured in accordance with another embodiment of thepresent technology.

FIG. 23 is a schematic illustration of a perception surface cleaning anddrying system configured in accordance with another embodiment of thepresent technology.

FIG. 24 is a schematic illustration of a perception surface cleaning,drying, and thermal management system configured in accordance with anembodiment of the present technology.

FIG. 25 is a schematic illustration of a perception surface cleaning,drying, and thermal management system configured in accordance withanother embodiment of the present technology.

FIG. 26 is a schematic illustration of a perception surface cleaningsystem including multiple, hierarchically arranged delivery systemsconfigured in accordance with an embodiment of the present technology.

FIG. 27 is a schematic illustration of a perception surface cleaningsystem including multiple parallel delivery systems configured inaccordance with an embodiment of the present technology.

FIG. 28 is a schematic illustration of a perception surface cleaningsystem including multiple delivery systems configured in accordance withanother embodiment of the present technology.

FIG. 29 is a cross-sectional view of a fluid holding device configuredin accordance with an embodiment of the present technology.

FIG. 30 is a cross-sectional view of a fluid heating device configuredin accordance with an embodiment of the present technology.

FIG. 31 is a cross-sectional view of a fluid heating device configuredin accordance with another embodiment of the present technology.

FIG. 32 is a cross-sectional view of a fluid heating and forced airflowdevice configured in accordance with an embodiment of the presenttechnology.

FIG. 33 is a cross-sectional view of a fluid heating and forced airflowdevice configured in accordance with another embodiment of the presenttechnology.

FIG. 34 is a partially-schematic, cross-sectional view of a fluidheating and forced airflow device configured in accordance with anotherembodiment of the present technology.

FIG. 35 is a partially-schematic, cross-sectional view of a fluidheating and forced airflow device configured in accordance with anotherembodiment of the present technology.

FIG. 36 is a partially-schematic, cross-sectional view of a fluidheating and forced airflow device configured in accordance with anotherembodiment of the present technology.

FIG. 37 includes several cross-sectional views of multi-lumen tubing forfluid and/or air delivery and/or recirculation configured in accordancewith embodiments of the present technology.

FIG. 38 is a graph of fluid temperature versus time within a washerfluid heating chamber in accordance with embodiments of the presenttechnology.

DETAILED DESCRIPTION

The following disclosure describes various embodiments of systems andmethods for cleaning, drying, and thermally managing vehicle components,including surfaces of vehicle perception components. In someembodiments, the perception surface vehicle components can include oneor more exterior surfaces of a vehicle's perception component, such as awindshield, windows, lights, mirrors, cameras, detectors, and otherperception sensors or features that may need to be clean to effectivelyperceive the environment around the vehicle. In some embodiments, aperception surface cleaning system includes a central delivery systemconfigured to route fluid, such as washer fluid, along one or moredelivery channels to remote holding chambers. The holding chambers canhold and/or heat the fluid before delivering the fluid to nozzles thatspray the fluid on nearby perception surfaces to clean the components.

Certain details are set forth in the following description and in FIGS.1-38 to provide a thorough understanding of various embodiments of thepresent technology. In other instances, well-known structures,materials, operations, and/or systems often associated with vehicles,perception sensors, electromechanical systems, fluid delivery systems(e.g., valves, manifolds, etc.), etc., are not shown or described indetail in the following disclosure to avoid unnecessarily obscuring thedescription of the various embodiments of the technology. Those ofordinary skill in the art will recognize, however, that the presenttechnology can be practiced without one or more of the details set forthherein, or with other structures, methods, components, and so forth.

The terminology used below is to be interpreted in its broadestreasonable manner, even though it is being used in conjunction with adetailed description of certain examples of embodiments of thetechnology. Indeed, certain terms may even be emphasized below; however,any terminology intended to be interpreted in any restricted manner willbe overtly and specifically defined as such in this Detailed Descriptionsection.

The accompanying Figures depict embodiments of the present technologyand are not intended to be limiting of its scope. The sizes of variousdepicted elements are not necessarily drawn to scale, and these variouselements may be arbitrarily enlarged to improve legibility. Componentdetails may be abstracted in the Figures to exclude details such asposition of components and certain precise connections between suchcomponents when such details are unnecessary for a completeunderstanding of how to make and use the invention. Many of the details,dimensions, angles and other features shown in the Figures are merelyillustrative of particular embodiments of the disclosure. Accordingly,other embodiments can have other details, dimensions, angles andfeatures without departing from the spirit or scope of the presentinvention. In addition, those of ordinary skill in the art willappreciate that further embodiments of the invention can be practicedwithout several of the details described below.

The headings provided herein are for convenience only and do notnecessarily affect the scope of the embodiments.

I. OVERVIEW

FIG. 1 is a block diagram of a vehicle 100 (e.g., an automobile)configured in accordance with an embodiment of the present technology.In the illustrated embodiment, the vehicle 100 includes a maneuveringsystem 102 (e.g., a system of vehicle components configured to maneuveror physically displace the vehicle) including a propulsion mechanism(e.g., an engine or a motor), a directional mechanism (e.g., steerablewheels), a deceleration mechanism (e.g., brakes, an opposing engine ormotor, etc.), and/or other related components. For example, forautomobiles, the maneuvering system 102 can include a drive train (e.g.,an engine and a transmission), a steering system directing orientationof one or more wheels, a brake system, an external indicator system(e.g., lights corresponding to the brake or a lane-change operation), adrive-by-wire system, or a combination thereof. In other embodiments,the vehicle 100 can be a water, amphibious, or aerial vehicle, and themaneuvering system 102 could include one or of rudders, flaps, movablepropulsion mounts, or other suitable components depending on theintended environment for the vehicle.

In some embodiments, the vehicle 100 can include one or more perceptioncomponents 101 including visibility features 103. For example, thevisibility features 103 can include a windshield, windows, mirrors,lights, and/or other surfaces of the vehicle 100. Some or all of thevisibility features 103 may require periodic cleaning to, for example,improve the ability of an operator of the vehicle 100 to see through thevisibility features 103. The perception components 101 also includeperception sensors 108, including cameras, detectors, and other sensorsthat include external perception surfaces 109 that may be exposed to theelements during operation of the vehicle.

The vehicle 100 further includes a vehicle component cleaning, drying,and/or thermal management system 110 (“cleaning system 110”; which canalso be referred to as a fluid delivery system, a perception surfacecleaning system, a sensor cleaning system, etc.). The cleaning system110 is configured to clean, dry, heat, and/or cool the sensors 108, theperception surfaces 109, components of the maneuvering system 102,and/or other components of the vehicle 100 (collectively “vehiclecomponents”). The cleaning system 110 can include one or morecontrollers 112 operably coupled to one or more fluid deliverycomponents 114, such as tubes, heaters, chillers, valves, manifolds,reservoirs, etc., as described in detail below with reference to FIGS.2-38. In some embodiments, all or portions of the maneuvering system102, the vehicle control system 104, and/or the cleaning system 110 canbe physically or functionally combined. For example, in some embodimentsthe vehicle 100 can include a central (e.g., single) controller forcontrolling both the maneuvering system 102 and the cleaning system 110.Moreover, while the perception surfaces 109 and the sensors 108 areidentified as separate components in FIG. 1, the sensors 108 can eachinclude a “perception surface” for receiving/transmitting signals (e.g.,detecting light).

The controllers 112 of the cleaning system, and the controllers 106 ofthe vehicle control system can include one or more CPU(s) (processor)that can be a single processing unit or multiple processing units in adevice or distributed across multiple devices. CPU can be coupled toother hardware devices, for example, with the use of a bus, such as aPCI bus or SCSI bus. In some implementations, the controllers caninclude a communication device capable of communicating wirelessly orhard wired, with features, such as sensors, valve manifolds as discussedbelow, or other features related to the vehicle. The CPU can have accessto a memory in a device or distributed across multiple devices. A memoryincludes one or more of various hardware devices for volatile andnon-volatile storage, and can include both read-only and writablememory. For example, a memory can comprise random access memory (RAM),CPU registers, read-only memory (ROM), and writable non-volatile memory,such as flash memory, hard drives, floppy disks, CDs, DVDs, magneticstorage devices, tape drives, device buffers, and so forth. A memory isnot a propagating signal divorced from underlying hardware; a memory isthus non-transitory. Memory can include program memory that storesprograms and software, such as an operating system, adaptive trainingsystem, and other application programs. Memory can also include datamemory that can include power measurements, windowing data points,critical power or finite work capacity determinations, parameterizedtransformations for various workouts in terms of work, adaptive workoutprograms based on ability functions, configuration data, settings, useroptions or preferences, etc., which can be provided to the programmemory or any element of the vehicle component of the cleaning, dryingand/or thermal management system 110 of the present technology.

In some embodiments, the cleaning system 110 is configured toselectively deliver fluid (e.g., washer fluid, air, etc.) to one or moreof the perception surfaces 109 to thereby clean the perceptioncomponents 101. In some embodiments, the cleaning system 110 pumpswasher fluid and/or air and delivers it to one or more selected channelsby, for example, opening or closing of one or more valves. The valvesmay be located distant from each other or may be co-located such as on ashared manifold. In some embodiments, the control of flow in eachchannel may also be directed through adjusting the position of a rotaryvalve. Each channel comprises a fluid conduit through which the fluidflows when pumped, delivering it to a nozzle or other application deviceto clean one or more of the vehicle components. The fluid may be heatedprior to the pump, in between the pump and the one or more valves, oranywhere along the length of the conduit carrying the fluid from the oneor more valves to the point of delivery. In some embodiments, thecleaning system 110 may include a recirculating function whereby warmedfluid may be routed through a channel to a position proximate to itsdesired delivery point, and fluid located at that point, which may havecooled over time, may be routed to return to the washer fluid reservoir.

In some embodiments, the cleaning system 110 is configured toselectively deliver a cooling fluid (e.g., washer fluid, air, etc.) toone or more of the perception components 101, such as the sensors 108 orother vehicle components, for thermal management (e.g., cooling orheating). In some embodiments, the cleaning system 110 can pump anddeliver a cooling fluid, either at ambient temperature or chilled by afluid chiller, to one or more selected channels by opening or closingselected valves. Each channel comprises a conduit through which thecooling fluid flows when pumped, delivering it to a heat exchangerlocated at the vehicle component to be cooled. In some embodiments, thefluid chiller may be a discrete device or may leverage an airconditioning system of the vehicle 100 to chill the fluid and/or toprovide dehumidified air. In some embodiments, the cooling fluid maytraverse a recirculating path—wherein the cooling fluid (i) is deliveredfrom a central reservoir to the vehicle component to be chilled toabsorb heat from the component and (iii) subsequently returned to thecentral reservoir.

In some embodiments, the cleaning system 110 is configured to deliverfluid to one or more of the vehicle components for both cleaning andthermal management. For example, one channel with a single lumen can beconfigured to carry heated or cool washer fluid, and heated or cooledair. The air may be ambient air and/or dehumidified drying air, whichmay be provided via vehicle's air conditioning system. In anotherexample, one or more channels carrying cooling fluid and/or air can beco-routed with one or more channels carrying heated washer fluid,simplifying installation and routing of the cleaning system 110 withinthe vehicle 100. In some embodiments, the same fluid is operative at thesame temperature for both “warming” (e.g., permitting an effectiveocclusion wash and dry function) and for “cooling” (e.g., for inhibitingone or more of the sensors 108, such as cameras, from getting too hot).In another embodiment, one or more channels can be configured to carry aflow of air (ambient or dehumidified drying air) that is delivered to aperception surface of, as an example, a sensor 108.

In some embodiments, the cleaning system 110 is further configured tocarry and deliver forced air (heated, dried (i.e., dehumidified), orambient air) for delivery to destination points proximate to thedestination points of the heated washer fluid and the cooling fluid(e.g., to the sensors 108). For example, forced air may be used to drythe surface of one of the sensors 108 after it has been cleaned by thedelivery of washer fluid. In some embodiments, the channels for forcedair, washing fluid, and cooling fluid can be coaxially located on thesame conduit—for example, where the inner channel carries washer fluidand the outer channel carries air. The proximity of the channels canadvantageously allow heat transfer between the air and the liquid washerfluid.

In some embodiments, the vehicle control system 104 and/or the cleaningsystem 110 are configured as a closed-loop system. For example, thesensors 108 can communicate with (e.g., send signals to) thecontroller(s) 106 of the vehicle control system 104 and/or thecontroller(s) 112 of the cleaning system 110 when the sensors 108 becomeoccluded, exceed a threshold temperature, etc. That is, for example, thevehicle control system 104 and/or the cleaning system 110 can recognizethat a particular one of the sensors 108 is not seeing properly, declarea fault, and initiate an attempt to clear the fault. To clear the fault,the cleaning system 110 can deliver washer fluid and/or forced air tothe surface of the sensor 108 to clean the surface, and the vehiclecontrol system 104 can check the signal coming from the sensor 108 todetermine whether the obstruction has been cleared. Alternatively oradditionally, the vehicle control system 104 can engage the cleaningsystem 110 on a periodic basis without determining that an obstructionexists. For example, forced air may be applied in response to a fault,or it may be applied periodically, or even constantly as the flow of airover the sensor surface may reduce the likelihood that the sensorbecomes obstructed. Similarly, the cleaning system 110 can providecooling on a periodic basis, or cooling may be provided on a periodicbasis in which the period varies with the activity of the particular oneof the sensors 108, with an ambient temperature, etc. In someembodiments, for example where the vehicle control system 104 is notfully autonomous, the operator of the vehicle 100 may make thedetermination that one of the vehicle components (e.g., a backup camera,windshield, etc.) needs cleaning, and may engage with the vehicle 100 totrigger the cleaning system 110 to clean the sensor 108 or perceptionsurface.

II. SELECTED EMBODIMENTS OF VEHICLE COMPONENT CLEANING SYSTEMS

In some embodiments of the present technology, a cleaning system (e.g.,the cleaning system 110) can be configured to heat and deliver fluid,such as washer fluid, to one or more vehicle components (e.g., thesensors 108 and/or the perception surfaces 109) to clean the vehiclecomponents. In some embodiments, the cleaning system 110 can include acentralized heater that heats the washer fluid at a single location andthen moves the heated fluid to the point of delivery. In one aspect ofthe present technology, such a centralized approach can reduce thenumber of required components. In another aspect of the presenttechnology, a centralized heater enables parasitic heat recovery fromother localized heat sources, such as various components of themaneuvering system 102 (e.g., an internal combustion engine of thevehicle 100, an exhaust system of the vehicle 100, a warm batteryencasement of the vehicle 100, etc.) However, the washer fluid will coolas it moves from the centralized heater to the point of delivery, andwill cool more the longer it takes to deliver the washer fluid.

In other embodiments, the cleaning system 110 can heat the washer fluidin a decentralized manner, where ambient temperature fluid is moved tothe desired application point (or near to it), and then heat is applied.In one aspect of the present technology, this decentralized approachbenefits from less heat loss before delivery but can require relativelymore components than a centralized heating system. Additionally, it ismore difficult to provide a high temperature source for heat exchange toa distributed collection of application points.

The cleaning system 110 typically heats the washer fluid by electricresistance heating, or by heat exchange from a high temperature source.Electric heating utilizes electric power from the vehicle 100, which isoften tightly controlled and not widely available, and the generation ofwhich can adversely affect the efficiency of the vehicle 100. Because ofthis, electric washer fluid heaters are typically of relatively lowcontinuous power. However, such electric heaters also have the advantageof being able to apply that power even when the vehicle 100 is cold, asit may be when starting vehicle operation. By contrast, parasiticheating, or the recovery of waste heat from the vehicle 100 via a heatexchanger, can often provide many times as much heating power aselectric heaters. Additionally, as vehicles often have whole systemsdesigned to get rid of the waste heat, recovery of a small amount haslittle to no effect on the vehicle 100. However, these heaters generallyrequire a high temperature heat source, which may not be available forseveral minutes following vehicle start. Accordingly, in someembodiments the cleaning system 110 includes a hybrid parasitic-electricfluid heater that utilizes both electric heating and parasitic heating.For example, the cleaning system 110 can utilize the electric heaterwhen the heat exchanger cannot provide heat (e.g., during andimmediately after the vehicle 100 is started), and can then shut off orminimize the electricity draw from the vehicle 100 and rely on theplentiful waste heat once the vehicle 100 provides heat (e.g., after thevehicle 100 has warmed up).

The washer fluid is typically brought into the cleaning system 110 atambient temperature. In some embodiments, the cleaning system 110 heatsthe washer fluid in-line—in which all pumped fluid passes through theheater. For an electric heater, the electric current can be shut off ifno heating is desired. However, for a parasitic heat exchanger heater,all fluid flowing through the heat exchanger will exchange heat. In someembodiments, the cleaning system 110 can include a valving systemconfigured to control the flow of the washer fluid to selectively directall of the washer fluid to the heater or to bypass the heater, or todirect part of the fluid to the heater, part to bypass the heater, andthen recombine the flows.

In some embodiments, the cleaning system 110 includes distributedelectric heaters. In such embodiments, ambient temperature fluid can bepumped through a rotary valve to select a distribution channel, andthereby to select a desired vehicle component destination for the fluid.Just before arrival at the point of application, one of the distributedelectric heaters can selectively heat the fluid. For example, heatingcan be applied through an electric resistance heating element to a smallvolume of fluid in an in-line chamber located close to a spray nozzle.This volume is sized to hold the approximate amount of fluid expected tobe used in cleaning that channel's perception surface. Generally, thelarger the surface to be cleaned, the larger the in-line heated fluidvolume. For example, the cleaning system 110 may be designed to applybetween 0.5-3 milliliters of heated fluid per square centimeter of area.

The cleaning system 110 can include sensors to measure the fluidtemperature in the in-line chamber as well as in the electric heatingelements. A centralized controller (e.g., one or more of the controllers106 and/or 112) can receive the temperature signals from each channel'ssensors and apply or shut off electric current to the channel's heatingelement such that desired temperatures are achieved. In someembodiments, instead of controlling fluid temperature within the in-lineheating chamber using sensors and a controller, a positive temperaturecoefficient heater may be used which self-limits temperature by reducingheating as temperatures rise. Heaters can be designed to apply enoughpower to heat fluid from ambient to the desired delivery temperature ina desired amount of time, usually less than 60 seconds. This enables thevehicle components to be repetitively cleaned with properly heatedfluid. In some embodiments, the centralized controller can selectivelyapply current to the channels' heaters to maintain electric power usagewithin desired limits. In other embodiments, heating may alternativelybe applied to the tubing or conduit carrying fluid towards a nozzle.

In some embodiments, the cleaning system 110 can include multiple fluidchannels that can be selected for fluid delivery to different ones ofthe vehicle components via operation of a collection of solenoid valves(e.g., a manifold). The controller 106 and/or the controller 112 canmonitor power usage on each channel and choose whether to provide powerto each channel.

FIGS. 2-9 are schematic illustrations more specifically illustratingvarious embodiments of closed-loop control cleaning systems (e.g.,sensor cleaning systems) for cleaning one or more vehicle components(e.g., perception sensors) configured in accordance with embodiments ofthe present technology. The detailed description of each embodimentfocuses mainly on those components that are new/different as compared toother embodiments. However, one skilled in the art will appreciate thatthe various embodiments can (i) include the same or generally similarfeatures (e.g., components, configurations, etc.), (ii) operate the sameor generally similarly, and/or (iii) that the various embodiments can becombined. Moreover, one of ordinary skill in the art will appreciatethat the number of components can vary in the following embodiments. Forexample, the systems of the present technology can have any number ofdelivery channels, return channels, sensors, heaters, chillers, heatexchangers, nozzles, etc.

FIG. 2 is a schematic illustration of a perception surface cleaningsystem (e.g., a fluid delivery system) 210 configured in accordance withan embodiment of the present technology. In the illustrated embodiment,a washer fluid pump 204 is configured to pump washer fluid 201 from areservoir 202 through a delivery channel 228 to a nozzle 217. The nozzle217 is configured to spray the washer fluid onto the perception surfaceto clean the sensor 218. In other embodiments, the nozzle 217 can beconfigured to spray and clean the surface of another perception feature,such a window, windshield, mirror, or other perception component,instead of or in addition to the sensor 218. In the illustratedembodiment, a controller 224 is operably/communicatively coupled to thepump 204 and the sensor 218. The controller 224 can receive signals fromthe sensor 218 or otherwise determine that the sensor 218 is occludedand can selectively engage the pump 204 to clean the sensor 218 (e.g.,the perception surface of the sensor 218). In some embodiments, thecontroller 224 can selectively engage the pump 204 by controlling anon/off state of the pump 204. In other embodiments, the controller 224can selectively engage the pump 204 by controlling/selecting a desiredpumping flow rate corresponding to a level of sensor occlusion, anambient temperature, an amount of fluid 201 remaining in the reservoir202, and/or other conditions. By this arrangement, the system 210 isconfigured for closed-loop control and operation.

FIG. 3 is a schematic illustration of a vehicle component cleaningsystem 310 for cleaning one or more sensors 318 configured in accordancewith an embodiment of the present technology. In the illustratedembodiment, a washer fluid pump 304 is configured to pump washer fluid301 from a reservoir 302 and along a delivery channel 328 to a flowsplitter 303. The flow splitter 303 splits the flow of washer fluid 301for delivery to a plurality of nozzles 317 configured (e.g., positionedand shaped) to deliver the fluid 301 to/onto corresponding ones of thesensors 318. While the flow splitter 303 is shown as splitting the fluidflow to three nozzles 317 in FIG. 3, in other embodiments the flowsplitter 303 can split the delivery channel 328 into any number ofsub-channels. In the illustrated embodiment, a controller 324 isoperably/communicatively coupled to the pump 304 and the sensors 318.When the controller 324 determines that any of the sensors 318 areoccluded, the controller 324 may selectively engage the pump 304 (e.g.,by controlling an on/off state, pumping rate, etc., of the pump 304) toclean the surfaces of all the sensors 318. By this arrangement, thesystem 310 is configured for closed-loop control and operation.

FIG. 4 is a schematic illustration of a perception surface cleaningsystem 410 including an in-line heater 412 configured in accordance withan embodiment of the present technology. In the illustrated embodiment,a washer fluid pump 404 is configured to pump washer fluid 401 (i) froma reservoir 402 to the heater 412 and (ii) from the heater 412 along adelivery channel 428 to a nozzle 417. The nozzle 417 is configured tospray the surface of a perception sensor 418 or another vehiclecomponent to clean the sensor 418 or other vehicle component. In theillustrated embodiment, a controller 424 is operably coupled to thesensor 418, the heater 412, and a temperature sensor 425 configured tomeasure/sense/detect a temperature of the fluid 401 at and/or proximateto the heater 412. When the controller 424 determines that the surfaceof the sensor 418 is occluded, the controller 424 can selectively engagethe pump 404 to clean the surface of the sensor 418. The controller 424can also receive one or more temperature signals from the temperaturesensor 425 and/or the heater 412 and may selectively engage the heater412 based on the measured temperature, the sensed occlusion of theperception sensor 418, and/or on some other input or combination ofinputs to heat the fluid 401 to a desired temperature. In someembodiments, the controller 424 selectively engages the heater 412 bycontrolling an on/off state of the heater 412, changing a power state ofthe heater 412, etc. By this arrangement, the system 410 is configuredfor closed-loop control and operation.

FIG. 5 is a schematic illustration of a perception surface cleaningsystem 510 for selectively cleaning one or more sensors 518 configuredin accordance with an embodiment of the present technology. In theillustrated embodiment, a washer fluid pump 504 is configured to pumpwasher fluid 501 from a reservoir 502 to a delivery system 506 (e.g., amanifold, a valve system, etc.) having a plurality of distributionvalves 508. The valves 508 can be selectively opened/closed to permitthe fluid 501 to flow along one or more delivery channels 528 to nozzles517 configured to deliver the fluid 501 onto corresponding ones of thesensors 518 to clean the sensors 518. In the illustrated embodiment, acontroller 524 is operably coupled to the delivery system 506 and to thesensors 518. When the controller 524 determines that one or more of thesensors 518 are occluded, the controller 524 can selectively engage thepump 504 and the associated distribution valves 508 to route the fluid501 to the nozzles 517 corresponding to the occluded sensors 518 toclean the corresponding occluded sensors 518. In one aspect of thepresent technology, the system 510 can selectively clean only thosesensors 518 that are occluded—reducing the amount of the washer fluid501 consumed during operation. The controller 524 can be configured toapply one or more pulses of washer fluid to the occluded sensor 518 andthen communicate with the sensor 518 after each pulse to determinewhether the perception surface of the sensor 518 has been adequatelycleaned. If not, additional pulses of washer fluid can be directed ontothe sensor 518.

FIG. 6 is a schematic illustration of a perception surface cleaningsystem 610 for selectively cleaning one or more sensors 618 with heatedfluid configured in accordance with an embodiment of the presenttechnology. In the illustrated embodiment, a washer fluid pump 604 isconfigured to pump washer fluid 601 (i) from a reservoir 602 to anin-line heater 612 and (ii) from the in-line heater 612 to a deliverysystem 606 (e.g., a manifold, a valve system, etc.) having a pluralityof distribution valves 608. The valves 608 can be selectively opened topermit the fluid 601 to flow to one or more nozzles 617 configured todeliver the fluid 601 onto corresponding ones of the sensors 618 toclean the sensors 618. In the illustrated embodiment, the controller 624selectively activates one distribution valve 608 at a time to maintainadequate fluid flow rate and pressure within the system. In otherembodiments, the controller 624 may activate more than one distributionvalves simultaneously. In the illustrated embodiment, a controller 624is operably coupled to the heater 612, a temperature sensor 625configured to detect the temperature of the fluid 601 at and/orproximate to the heater 612, the delivery system 606, and the sensors618. When the controller 624 determines that one or more of theperception sensors 618 are occluded, the controller 624 can selectivelyengage the pump 604 and the associated one or more of the distributionvalves 608 to route the fluid 601 to the nozzles 617 corresponding tothe occluded sensors 618 to clean the corresponding occluded sensors618. The controller 624 can also receive one or more temperature signalsfrom the temperature sensor 625 and/or the heater 612 and canselectively engage the heater 612 based on the measured temperature, thesensed occlusion of the sensors 618, and/or on some other input orcombination of inputs.

FIG. 7 is a schematic illustration of a perception surface cleaningsystem 710 for selectively cleaning one or more sensors 718 with heatedfluid configured in accordance with another embodiment of the presenttechnology. In the illustrated embodiment, a washer fluid pump 704 isconfigured to pump washer fluid 701 from a reservoir 702 to a deliverysystem 706 (e.g., a manifold, valve system, etc.) having a plurality ofdistribution valves 708. A washer fluid heater 712 is arranged inparallel to the delivery system 706. The delivery system 706 isconfigured to (i) selectively route the fluid 701 to the heater 712 forheating, (ii) subsequently receive the heated fluid 701 from the heater712, and (iii) selectively route the heated/unheated fluid 701 from thedelivery system 706 to one or more nozzles 717 configured to deliver thefluid 701 onto corresponding ones of the sensors 718 to clean thesensors 718.

In the illustrated embodiment, a controller 724 is operably coupled tothe heater 712, a temperature sensor 725, the delivery system 706, andthe sensors 718. In some embodiments, the controller 724 can control thedelivery system 706 and the pump 704 to selectively route all the fluid701 to the heater 712 or to bypass the heater 712 and remain unheated.In other embodiments, the delivery system 706 may direct only a firstportion of the fluid 701 to the heater 712 for heating. The firstportion can subsequently mix with a remaining second portion of thefluid 701 that bypasses the heater 712 within a volume of the deliverysystem 706 to achieve a fluid temperature in between that of the fluid701 exiting the washer fluid reservoir 702 and the fluid 701 exiting theheater 712. For example, in some embodiments the delivery system 706 maycontain a variable aperture valve to direct a portion of the washerfluid to the heater 712. In other embodiments, the delivery system 706can include a three-way valve that selectively connects (e.g., based ona control signal from the controller 724) the pump 704 to (i) the volumewithin the delivery system 706 and the distribution valves 708 or (ii)the heater 712. In yet other embodiments, the various valves of thedelivery system 706 can be individually controlled solenoid valves ormay be combined into a rotary valve system.

When the controller 724 determines that one or more of the perceptionsensors 718 are occluded, the controller 724 can selectively engage thepump 704 and the associated one or more of the distribution valves 708to route the fluid 701 to the nozzles 717 corresponding to the occludedsensors 718 to clean the corresponding occluded sensors 718. Thecontroller 724 can also receive one or more temperature signals from thetemperature sensor 725 and/or the heater 712 and can selectively engagethe heater 712 and/or the delivery system 706 based on the measuredtemperature to control the temperature of the fluid 701.

FIG. 8 is a schematic illustration of a perception surface cleaningsystem 810 for selectively cleaning one or more sensors 818 with heatedfluid configured in accordance with another embodiment of the presenttechnology. In the illustrated embodiment, a washer fluid pump 804 isconfigured to pump washer fluid 801 from a reservoir 802 to a deliverysystem 806 (e.g., a manifold, valve system, etc.) having a plurality ofdistribution valves 808. The valves 808 can be selectively opened topermit the fluid 801 to be pumped to one or more fluid heaters 812 andfrom the fluid heaters 812 to corresponding nozzles 817 configured todeliver the fluid 801 onto corresponding ones of the sensors 818 toclean the sensors 818. In one aspect of the present technology, thefluid heaters 812 are located at or proximate to the correspondingnozzles 817. In some embodiments, this can reduce the amount of energyneeded to heat the fluid 801 since the fluid 801 will not decrease intemperature much between the heaters 812 and the nozzles 817 as comparedto, for example, systems with a centralized heater (e.g., theembodiments illustrated in FIGS. 6 and 7). In some embodiments, thefluid heaters 812 can have features generally the same as or similar tothose of the fluid heating devices described in detail below withreference to FIGS. 30-36.

In the illustrated embodiment, a controller 824 is operably coupled tothe heaters 812, temperature sensors 825 configured to measure thetemperature of the fluid 801 at or proximate to the heaters 812 (e.g.,within the heaters 812), the delivery system 806, and the sensors 818.When the controller 824 determines that one or more of the perceptionsensors 818 are occluded, the controller 824 can selectively engage thepump 804 and the associated one or more of the valves 808 to route thefluid 801 (i) to the heaters 812 to heat the fluid 801 and (ii) from theheaters 812 to the nozzles 817 corresponding to the occluded sensors 818to clean the corresponding occluded sensors 818 with the heated fluid801. The controller 824 can also receive one or more temperature signalsfrom the temperature sensors 825 and/or the heaters 812 and canselectively engage the heaters 812 based on the measured temperatures,the sensed occlusion of the sensors 818, and/or on some other input orcombination of inputs to vary the temperature of the fluid deliveredfrom the nozzles 817.

FIG. 9 is a schematic illustration of a perception surface cleaningsystem 910 for selectively cleaning one or more sensors 918 with heatedfluid configured in accordance with another embodiment of the presenttechnology. In the illustrated embodiment, a washer fluid pump 904 isconfigured to pump washer fluid 901 from a reservoir 902 to a deliverysystem 906 (e.g., a manifold, a valve system, etc.) having a pluralityof distribution valves 908. A washer fluid heater 912 is arranged inparallel to the delivery system 906. In the illustrated embodiment, theheater 912 is a parasitic heater (e.g., a heat exchanger) configured toheat the fluid 901 by transferring/exchanging heat generated fromanother system, such as a vehicle engine 914, to/with the fluid 901.More specifically, for example, heat can be provided to the heater 912by circulation of a higher temperature fluid, such as engine coolantcarrying heat away from the engine 914, or coolant carrying heat awayfrom other vehicular systems needing to be cooled, such as batteries orother electronics in an electric vehicle. For example, the heater canutilize heat from the engine's coolant system, as described in U.S. Pat.Nos. 8,550,147 and 8,925,620, or in U.S. Patent Application PublicationNo. 2018/0162327, all of which are incorporated herein by reference. Thevalves 908 and/or other valves (e.g., a three-way valve) can beselectively opened/closed to permit the fluid 901 to flow (i) to theheater 912 for heating, (ii) subsequently back into the delivery system906 from the heater 912, and/or (iii) from the delivery system 906 andalong one or more parallel delivery channels 928 to one or more nozzles917, which are configured to deliver the fluid 901 onto correspondingones of the sensors 918 to clean the sensors 918.

In the illustrated embodiment, a controller 924 is operably coupled tothe pump 904, a temperature sensor 925 configured to sense thetemperature of the fluid 901 in and/or proximate to the delivery system906, the delivery system 906, and the sensors 918. In some embodiments,the controller 924 can control the valves 908 and the pump 904 toselectively route all the fluid 901 to the heater 912 or to bypass theheater 912 and remain unheated. In other embodiments, the deliverysystem 906 may direct only a first portion of the fluid 901 to theheater 912 for heating. The first portion can subsequently mix with aremaining second portion of the fluid 901 that bypasses the heater 912to achieve a fluid temperature in between that of the fluid 901 exitingthe reservoir 902 and the fluid 901 exiting the heater 912. For example,the delivery system 906 may contain a variable aperture valve to directa portion of the washer fluid to the heater 912. When the controller 924determines that one or more of the perception sensors 918 are occluded,the controller 924 can selectively engage the pump 904 and theassociated one or more of the distribution valves 908 to route the fluid901 to the nozzles 917 corresponding to the occluded sensors 918 toclean the corresponding occluded sensors 918. The controller 924 canalso receive one or more temperature signals from the temperature sensor925 and can selectively engage the delivery system 906 based on themeasured temperature and/or other inputs, parameters, etc., to controlthe temperature of the fluid 901.

III. SELECTED EMBODIMENTS OF PERCEPTION SURFACE CLEANING SYSTEMSCONFIGURED TO RECIRCULATE HEATED FLUID

Referring again to FIG. 1, in some embodiments of the present technologya cleaning system (e.g., the cleaning system 110) can be configured toheat and deliver fluid, such as washer fluid, to one or more vehiclecomponents such as the perception components 101 (e.g., the sensors 108and/or the perception features 103) to clean the perception surfaces 109while also recirculating the heated fluid and maintaining the heatedfluid proximate to the vehicle components. For example, heat can beapplied to the fluid in a centralized location and subsequently moved toa location near to a desired application point. Periodically, as thefluid cools, the cleaning system 110 can move newly heated fluid to thelocation near the application point and return the cooled fluid to acentralized reservoir (e.g., proximate to the heater). In one aspect ofthe present technology, such an approach ensures that properly heatedfluid is positioned at the application point, while also prewarming thefluid reservoir. However, such an approach requires periodic pumping torecirculate the fluid and some level of valving to control the flow, andtherefore may be best suited for systems where heating is plentiful andnot costly to the performance of the vehicle 100.

In some embodiments, the cleaning system 110 includes a “hybrid” heatingsource that transfers heat to the fluid via the combination of a heatexchanger and an electric resistance heating element. The heat exchangerprovides heat from a hot coolant flow to the washer fluid. The electricheating element provides supplemental heating when it is desired. Forexample, when the vehicle 100 is first started, the coolant may not beat a high enough temperature to adequately heat the washer fluid via theheat exchanger, and so supplemental heating using the electric heatingelement may be desired. However, during operation of the vehicle 100,the heat exchanger may provide sufficient heating without the need forsupplemental heating via the electric heating element.

In some embodiments, the cleaning system 110 includes a rotary valvewhich directs the flow of heated fluid to a selected channel. Eachchannel can be coupled to a distribution nozzle configured to spray andclean a vehicle component. In operation, when a channel is selected,heated fluid flows along the channel's conduit to a point very close tothe distribution nozzle, wherein it enters a small holding chamber whichcan be better insulated than the conduit. The volume of the holdingchamber can be sized to hold the approximate amount of fluid expectedfor one or two pulses of fluid delivery to be used in cleaning thatchannel's perception sensor or perception surface (e.g., the larger thesurface to be cleaned, the larger the volume). For example, the cleaningsystem 110 (e.g., the holding chambers) may be designed to apply between0.5-3 milliliters per square centimeter of area during a single cleaningspray. The holding chamber can also include a heating element, such asan electric heating element configured to heat the small volume of fluidwithin the chamber for delivery to the associated perception surface109. In such a configuration, the power draw required to heat the smallvolume of fluid is minimal.

In some embodiments, individual ones of the holding chambers can haveone inlet port through which heated fluid enters, and two outlet ports.The first outlet port can connect to a conduit which returns fluid backto the rotary valve, and from there to a washer fluid reservoir. In someembodiments, the conduit carrying heated fluid to the holding chamberand the conduit carrying fluid back to the rotary valve can be combinedin a dual-lumen tube to simplify mounting and routing of the tubingwithin the vehicle 100. The second outlet port of the holding chambercan carry heated fluid from the holding chamber to a valve, and from thevalve to the distribution nozzle. In some embodiments, the valve is aone-way valve which requires an elevated pressure to open. In operation,the rotary valve can selectively recirculate fluid through a selectedchannel by (i) opening flow from the rotary valve to the holding chamberand (ii) opening a valve in the fluid path of the conduit returningfluid back to the rotary valve, while a recirculation pump is operating.To spray fluid from a distribution nozzle, the rotary valve can (i) openthe flow to the selected channel but (ii) close the valve in the fluidpath of the conduit returning fluid back to the rotary valve, while thepump is operating. In this case, pressure in the conduit exceeds thepressure required to open the one-way valve positioned near thedistribution nozzle, causing the valve to open, and driving the fluidthrough the nozzle. As the heated fluid from the holding chamber isdispensed, additional fluid is pumped from the main fluid reservoir,through the heater (e.g., the parasitic heater), through the valvemanifold, to the holding chamber and toward the nozzle. Once the one-wayvalve near the distribution nozzle is closed, the flow of fluid willrefill the holding chamber.

In some embodiments, each return channel is fit with a one-way checkvalve and connected into one common flow path such that flow throughindividual ones of the return channels can be opened or closed by asingle, common return valve in the common flow path. The returnvalve—which closes during spraying—can be an elastomeric open billduckbill valve which faces the bill into the flow stream andautomatically self closes upon facing a high flow generated by the(e.g., more powerful) spraying pump. In some embodiments, the one-waycheck valves are selected in combination with the diameter of the returnflow tubing to ensure that the restriction in the return flow paths isless than the pressure required to open the one-way valves positionedproximate to the distribution nozzles. In some embodiments, acentralized controller operates the washer fluid pump and the valves. Inother embodiments, controllable check valves can be used that allowmultiple return channels to be combined and controlled, for example by asingle solenoid valve connected to the controller. The controller canreceive an ambient temperature signal from a sensor positioned near oneof the holding channels or from the vehicle 100, and can use a presetfunction or look-up table to select the frequency and length of timeeach channel should be recirculated to maintain temperatures in theholding chambers within desired targets.

In other embodiments, the cleaning system 110 can include a central,electric heating element or heat exchanger instead of a hybrid system.In such embodiments, the selective distribution of washer fluid tochannels may be accomplished by a collection of solenoid valves, whichmay be collectively located on one or more flow manifolds. The holdingchambers may be replaced with Y- or T-shaped branches in the flow path,such that hot fluid is simply held in the line feeding into thejunction. A check valve before the nozzle may be replaced with acontrolled solenoid valve. Each return tube may be equipped with its ownreturn valve. Each channel may be equipped with a temperature sensorconnected to a central controller to enable direct monitoring oftemperature before the valve and decision making as to frequency ofrecirculation of that channel. Additionally, as semi-warmed fluid may bereturned to the washer fluid reservoir, temperature sensors may measurethe temperature of the coolant entering and exiting the heating source,and that information may be utilized in determining frequency ofrecirculation. Alternatively, a single temperature sensor could be addedto the common return tube, after each return tube's check valve andafter the flow paths have been combined into a single path. By measuringthis temperature while recirculating fluid, the system may adaptivelylearn the appropriate frequency of recirculation of that channel.

FIGS. 10-14 are schematic illustrations more specifically illustratingvarious embodiments of closed-loop control cleaning systems (e.g.,sensor cleaning systems) for cleaning one or more vehicle components(e.g., perception sensors) while recirculating heated fluid configuredin accordance with embodiments of the present technology. The detaileddescription of each embodiment focuses mainly on those components thatare new/different as compared to other embodiments. However, one skilledin the art will appreciate that the various embodiments can (i) includethe same or generally similar features (e.g., components,configurations, etc.), (ii) operate the same or generally similarly,and/or (iii) that the various embodiments can be combined. Further, oneskilled in the art will appreciate that the various embodimentsdiscussed with reference to FIGS. 10-14 can (i) include the same orgenerally similar features (e.g., components, configurations, etc.) asthose embodiments discussed with reference to FIGS. 2-9, (ii) operatethe same or generally similarly as those embodiments discussed withreference to FIGS. 2-9, and/or (iii) that the various embodiments can becombined with each other and/or the embodiments discussed with referenceto FIGS. 2-9. Moreover, one of ordinary skill in the art will appreciatethat the number of components can vary in the following embodiments. Forexample, the systems of the present technology can have any number ofdelivery channels, return channels, sensors, heaters, chillers, heatexchangers, nozzles, etc.

FIG. 10 is a schematic illustration of a perception surface cleaningsystem 1010 for cleaning one or more perception sensors 1018 with heatedfluid, and for recirculating the heated fluid, configured in accordancewith an embodiment of the present technology. In the illustratedembodiment, a washer fluid pump 1004 is configured to pump washer fluid1001 from a reservoir 1002 to a delivery system 1006 (e.g., a valvesystem, manifold, etc.) having a plurality of distribution valves 1008.A parasitic heater 1012 is arranged in parallel to the delivery system1006 and configured to heat the fluid 1001 by transferring heatgenerated by a vehicle engine 1014 (or other system) to the fluid 1001.The valves 1008 and/or one or more additional valves of the deliverysystem 1006 (e.g., a 3-way bypass valve) can be selectivelyopened/closed to permit the fluid 1001 to flow (i) to the heater 1012for heating and subsequently back into the delivery system 1006 and/or(ii) from the delivery system 1006 and along one or more paralleldelivery channels 1028 to corresponding holding chambers 1016. Asdescribed in detail above, the delivery system 1006 can selectivelyroute all, none, or a portion of the fluid 1001 to the heater 1012 toheat the fluid 1001 to a desired temperature before directing the fluid1001 to one or more of the holding chambers 1016.

In the illustrated embodiment, each of the holding chambers 1016 isfluidly connected to a nozzle 1017 via a three-way pre-nozzle valve1019. The three-way pre-nozzle valve 1019 is configured to selectivelyfluidly connect the holding chamber 1016 to (i) the nozzle 1017 or (ii)a return channel 1026 configured to return the fluid 1001 to thereservoir 1002 and/or the delivery system 1006. The return channels 1026can be coupled to the delivery system 1006 (e.g., to return the fluid1001 thereto) and/or to the reservoir 1002 (e.g., to return the fluid1001 thereto). In some embodiments, the holding chamber 1016 isconfigured to hold a volume of fluid of between about one and five timesthe volume of the fluid 1001 generally delivered via the nozzles 1017 tothe sensors 1018. In one aspect of the present technology, the holdingchambers 1016 allow the system 1010 to deliver the heated fluid 1001when needed and for the volume to be quickly flushed and replaced withwarmer fluid 1001 when recirculated. In some embodiments, the holdingchambers 1016 can have a lower ratio of surface area to volume than thedelivery channels 1028 through which the fluid 1001 generally flows,such that the fluid 1001 cools more slowly in the holding chambers 1016than in the delivery channels 1028. In some embodiments, the holdingchambers 1016 can include heating elements and/or can be thermallyinsulated to reduce the rate of heat loss from the fluid 1001.

In the illustrated embodiment, a controller 1024 is operably coupled tothe pump 1004, a temperature sensor 1025 configured to sense thetemperature of the fluid 1001 in and/or proximate to the delivery system1006, the delivery system 1006, the three-way pre-nozzle valves 1019,and the sensors 1018. Periodically, the controller 1024 can recirculatethe fluid 1001 in one or more of the delivery channels 1028 to ensurethat the fluid 1001 within the holding chambers 1016 is within a desiredtemperature range. More specifically, to recirculate the fluid 1001within the delivery channels, the controller 1024 can (i) open thecorresponding distribution valves 1008 to pump the fluid 1001 into theselected delivery channels 1028 to move the fluid 1001 from the holdingchambers 1016 into the three-way pre-nozzle valves 1019, and (ii)actuate the three-way pre-nozzle valves 1019 to route the fluid 1001into the return channels 1026. The controller 1024 can elect torecirculate the fluid 1001 in one or more the holding chambers 1016based on signals received from the temperature sensor 1025, an elapsedtime, an ambient temperature, and/or other information. In someembodiments, the controller 1024 can also control the pump 1004 to pumpthe fluid 1001 at a rate selected for fluid recirculation and may chooseto heat the fluid 1001 to different temperatures by selectively routinga portion of the flow to the heater 1012 (e.g., based on signalsreceived from the temperature sensor 1025). These parameters may bevaried for each of sensors 1018 and the corresponding delivery channels1028. When the controller 1024 determines that one or more of theperception sensors 1018 are occluded, the controller 1024 canselectively engage the pump 1004 and the associated one or more of thedistribution valves 1008 to route the fluid 1001 along the selecteddelivery channels 1028 to the nozzles 1017 corresponding to the occludedsensors 1018 to clean the corresponding occluded sensors 1018.

In the illustrated embodiment, the holding chambers 1016 are positionedproximate to the corresponding nozzles 1017 to minimize a channeldistance/volume therebetween. In one aspect of the present technology,the volume of the fluid 1001 held between the holding chambers 1016 andthe nozzles 1017 is not recirculated (e.g., because it is positionedbeyond the three-way pre-nozzle valves 1019) and therefore must beejected from the nozzles 1017 before heated fluid is delivered. Thus,positioning the holding chambers 1016 proximate to the correspondingnozzles 1017 can minimize the inefficient ejection of cooled fluid 1001.Additionally, by locating the holding chambers 1016 and the three-waypre-nozzle valves 1019 close to the nozzles 1017, the time required toinitiate and to complete a dose of washer fluid 1001 is reduced.

In some embodiments, to simplify plumbing of the flow-containingchannels of the sensor cleaning system 1010, each channel is constructedof dual lumen tubing 1029 (shown in cross-section in FIG. 10), whereinone lumen contains the fluid 1001 traveling from the delivery system1006 to the three-way pre-nozzle valve 1019, and the other lumen carriesthe fluid 1001 traveling from the three-way pre-nozzle valve 1019 to thedelivery system 1006 and/or the reservoir 1002. That is, the deliverychannels 1028 and the return channels 1026 can be combined in the duallumen tubing 1029. In some embodiments, dual lumen tubing can be used totransport the fluid 1001 between the delivery system 1006 and the heater1012.

FIG. 11 is a schematic illustration of a perception surface cleaningsystem 1110 for cleaning one or more perception sensors 1118 with heatedfluid, and for recirculating the heated fluid, configured in accordancewith another embodiment of the present technology. In the illustratedembodiment, a washer fluid pump 1104 is configured to pump washer fluid1101 from a reservoir 1102 to a delivery system 1106 (e.g., a manifold,valve system, etc.) having a plurality of delivery valves 1108 and aplurality of return valves 1120. In some embodiments, one or more of thedelivery valves 1108, the return valves 1120, and/or other valves of thedelivery system 1106 can be individually controlled solenoid valves orcan be combined into a rotary valve system. A parasitic heater 1112 isarranged in parallel to the delivery system 1106 and configured to heatthe fluid 1101 by transferring heat generated by a vehicle engine 1114(or other system) to the fluid 1101. The delivery valves 1108 and/or oneor more other valves (e.g., a 3-way bypass valve) can be selectivelyopened/closed to permit the fluid 1101 to flow (i) to the heater 1112for heating and subsequently back into the delivery system 1106 and/or(ii) from the delivery system 1106 and along one or more paralleldelivery channels 1128 to corresponding holding chambers 1116. Asdescribed in detail above, the delivery system 1106 can selectivelyroute all, none, or a portion of the fluid 1101 to the heater 1112 toheat the fluid 1101 to a desired temperature before directing the fluid1101 to one or more of the holding chambers 1116.

In the illustrated embodiment, each of the holding chambers 1116 isfluidly connected to a nozzle 1117 via a pre-nozzle check valve 1121.The nozzles 1117 are configured to distribute or spray the fluid 1101onto corresponding ones of the sensors 1118 to clean the sensors 1118(e.g., clear the sensors 1118 of occlusions). The pre-nozzle checkvalves 1121 are configured to selectively fluidly connect the holdingchambers 1116 to corresponding (i) ones of the nozzles 1117 or (ii)return channels 1126 configured to return the fluid 1101 to thereservoir 1102 and/or the delivery system 1106. The return channels 1126can be coupled to the delivery system 1106 (e.g., to return the fluid1101 thereto) and/or to the reservoir 1102 (e.g., to return the fluid1101 thereto). For example, in the illustrated embodiment the returnvalves 1120 are fluidly coupled to corresponding ones of the returnchannels 1126.

A controller 1124 can be operably coupled to the pump 1104, atemperature sensor 1125 configured to sense the temperature of the fluid1101 in and/or proximate to the delivery system 1106, the deliverysystem 1106, and the sensors 1118. Periodically, the controller 1124 canrecirculate the fluid 1101 in one or more of the delivery channels 1128to ensure that the fluid 1101 within the holding chambers 1116 is withina desired temperature range. More specifically, to recirculate the fluid1101 within a selected one of the holding chambers 1116, the controller1124 can open both the delivery valve 1108 and the return valve 1120 ofthe delivery system 1106 that correspond to the selected one of theholding chambers 1116. This permits the fluid 1101 to return along thecorresponding return channel 1126, as the pressure at the pre-nozzlecheck valve 1121 remains below the cracking pressure of the pre-nozzlecheck valve 1121. When the return valve 1120 is open, the pre-nozzlecheck valve 1121 is closed such that the fluid 1101 does not exit thenozzle 1117. When the controller 1124 determines that one or more of theperception sensors 1118 are occluded, the controller 1124 canselectively engage the pump 1104 and the associated one or more of thedelivery valves 1108 to route the fluid 1101 along the selected deliverychannels 1128 to the nozzles 1117 corresponding to the occluded sensors1118 to clean the corresponding occluded sensors 1118. Specifically,with the return valves 1120 closed, the pressure at the pre-nozzle checkvalves 1121 exceeds the cracking pressures of the pre-nozzle checkvalves 1121—allowing the fluid 1101 to pass therethrough to the nozzles1117. As described in detail above, the delivery channels 1128, thereturn channels 1126, and/or other components of the system 1110 cancomprise a dual lumen tubing 1129 (shown in cross-section in FIG. 11).

FIG. 12 is a schematic illustration of a perception surface cleaningsystem 1210 for cleaning one or more sensors 1218 with heated fluid, andfor recirculating the heated fluid, configured in accordance withanother embodiment of the present technology. In the illustratedembodiment, a washer fluid pump 1204 is configured to pump washer fluid1201 from a reservoir 1202 to a delivery system 1206 having a pluralityof delivery valves 1208 and a plurality of return valves 1220. Aparasitic heater 1212 and an electric heater 1213 are arranged (i) inseries with each other and (ii) in parallel (e.g., to form a hybridparasitic-electric heater) with the delivery system 1206. The parasiticheater 1212 is configured to heat the fluid 1201 by transferring heatgenerated by a vehicle engine 1214 (or other system) to the fluid 1201,while the electric heater 1213 is configured to receive the fluid 1201(heated or unheated) from the parasitic heater 1212 and heat the fluid1201 via, for example, a resistive heating element. The delivery valves1208 and/or one or more other valves (e.g., a 3-way bypass valve) can beselectively opened/closed to permit the fluid 1201 to flow to (i) theparasitic heater 1212 and electric heater 1213 for heating andsubsequently back into the delivery system 1206 and/or (ii) from thedelivery system 1206 and along one or more parallel delivery channels1228 to corresponding holding chambers 1216.

In the illustrated embodiment, each of the holding chambers 1216 isfluidly connected to a nozzle 1217 via a pre-nozzle check valve 1221.The nozzles 1217 are configured to distribute or spray the fluid 1201onto corresponding ones of the sensors 1218 to clean the sensors 1218(e.g., to clear the sensors 1218 of occlusions). The pre-nozzle checkvalves 1221 are configured to selectively fluidly connect the holdingchambers 1216 to corresponding (i) ones of the nozzles 1217 or (ii)return channels 1226 configured to return the fluid 1201 to the deliverysystem 1206 via the return valves 1220.

A controller 1224 can be operably coupled to the pump 1204, a firsttemperature sensor 1225 configured to sense the temperature of the fluid1201 in and/or proximate to the delivery system 1206, the deliverysystem 1206, and the sensors 1218. Periodically, the controller 1224 canrecirculate the fluid 1201 in one or more of the delivery channels 1228to ensure, that the fluid 1201 within the holding chambers 1216 iswithin a desired temperature range. More specifically, as described indetail above, the controller 1224 can control the delivery valves 1208and the return valves 1220 of the delivery system 1206 to controlrecirculation and disbursement of the fluid 1201. For example, when thepump 1204 moves the fluid 1201 through the delivery valves 1208 andalong the delivery channels 1228, the pre-nozzle check valves 1221 are(i) open to permit the fluid 1201 to be forced through the nozzles 1217when the return valves 1220 are closed and (ii) closed to cause thefluid 1201 to be forced through the return channels 1226 when the returnvalves 1220 are open. The delivery channels 1228, the return channels1226, and/or other components of the system 1210 can comprise a duallumen tubing 1229 (shown in cross-section in FIG. 12).

In some embodiments, the controller 1224 is also operably coupled to asecond temperature sensor 1231 configured to sense/detect a temperatureof the fluid 1201 at and/or proximate to the electric heater 1213. Whenfluid circulating between the engine 1214 and the parasitic heater 1212is not hot (e.g., when the engine 1214 is not hot after a vehicleincorporating the engine 1214 first starts up), the parasitic heater1212 may not sufficiently heat the washer fluid 1201. In this case, thecontroller 1224 can receive a temperature signal from the secondtemperature sensor 1231 indicating that the fluid 1201 is below athreshold temperature, and can selectively activate the electric heater1213 to provide supplemental heating to the washer fluid 1201 before itreturns to the delivery system 1206. In some embodiments, the controller1224 is configured to selectively disengage the electric heater 1213when the hot fluid 1201 recirculating between the engine 1214 and theparasitic heater 1212 is sufficiently warm (e.g., after a predeterminedtime period, when the vehicle is put into drive, and/or under some othercondition).

FIG. 13 is a schematic illustration of a perception surface cleaningsystem 1310 for cleaning one or more perception sensors 1318 with heatedfluid, and for recirculating the heated fluid, configured in accordancewith another embodiment of the present technology. In the illustratedembodiment, a washer fluid pump 1304 is configured to pump washer fluid1301 from a reservoir 1302 to a delivery system 1306 having a pluralityof delivery valves 1308 and a plurality of return valves 1320. Aparasitic heater 1312 and an electric heater 1313 are individuallyconnected to the delivery system 1306. The parasitic heater 1312 isconfigured to heat the fluid 1301 by transferring heat generated by avehicle engine 1314 (or other system) to the fluid 1301, while theelectric heater 1313 is configured to heat the fluid 1301 via, forexample, a resistive heating element. More specifically, one or more ofthe delivery valves 1308 and/or one or more other valves (e.g., a 3-waybypass valve) can be opened to route all, none, or a portion of thefluid 1301 to the parasitic heater 1312 and/or to the electric heater1313. For example, in some embodiments all the fluid 1301 can be routedto the parasitic heater 1312 for heating, and can be routed to theelectric heater 1313 only if the parasitic heater 1312 is unable to heatthe fluid 1301 to a predetermined temperature. In other embodiments, afirst portion of the fluid 1301 can be routed to the parasitic heater1312 and a second portion of the fluid 1301 can be routed to theelectric heater 1313. The first and second portions can have the same ordifferent volumes. That is, the delivery system 1306 can selectivelyroute the fluid 1301 to the electric heater 1313, the parasitic heater1312, to neither, or to both.

Regardless of the one of or combination of the parasitic heater 1312 andthe electric heater 1313 used to heat the fluid 1301, the deliveryvalves 1308 can be selectively opened/closed to permit the heated fluid1301 to flow to from the delivery system 1306 and along one or moreparallel delivery channels 1328 to corresponding holding chambers 1316.In the illustrated embodiment, each of the holding chambers 1316 isfluidly connected to a nozzle 1317 via a pre-nozzle check valve 1321.The nozzles 1317 are configured to distribute or spray the fluid 1301onto corresponding ones of the sensors 1318 to clean the sensors 1318(e.g., to clear the sensors 1318 of occlusions). The pre-nozzle checkvalves 1321 are configured to selectively fluidly connect the holdingchambers 1316 to corresponding (i) ones of the nozzles 1317 or (ii)return channels 1326 configured to return the fluid 1301 to the deliverysystem 1306 via the return valves 1320.

A controller 1324 can be operably coupled to the pump 1304, a firsttemperature sensor 1325 configured to sense the temperature of the fluid1301 in and/or proximate to the delivery system 1306, the deliverysystem 1306, and the sensors 1318. Periodically, the controller 1324 canrecirculate the fluid 1301 in one or more of the delivery channels 1328to ensure, that the fluid 1301 within the holding chambers 1316 iswithin a desired temperature range. More specifically, as described indetail above, the controller 1324 can control the delivery valves 1308and the return valves 1320 of the delivery system 1306 to controlrecirculation and disbursement of the fluid 1301. For example, when thepump 1304 moves the fluid 1301 through the delivery valves 1308 andalong the delivery channels 1328, the pre-nozzle check valves 1321 are(i) open to permit the fluid 1301 to be forced through the nozzles 1317when the return valves 1320 are closed and (ii) closed to cause thefluid 1301 to be forced through the return channels 1326 when the returnvalves 1320 are open. The delivery channels 1328, return channels 1326,and/or other components of the system 1310 can comprise a dual lumentubing 1329 (shown in cross-section in FIG. 13).

In some embodiments, the controller 1324 is also operably coupled to asecond temperature sensor 1331 configured to sense/detect a temperatureof the fluid 1301 at and/or proximate to the electric heater 1313. Whenfluid circulating between the engine 1314 and the parasitic heater 1312is not hot (e.g., when the engine 1314 is not hot after a vehicleincorporating the engine 1314 first starts up), the parasitic heater1312 may not sufficiently heat the washer fluid 1301. In this case, thecontroller 1324 can receive a temperature signal from the secondtemperature sensor 1331 indicating that the fluid 1301 is below athreshold temperature, and can operate the delivery system 1306 toselectively direct all or a portion of the fluid 1301 to the electricheater 1313 to sufficiently heat the fluid 1301. In some embodiments,the controller 1324 is configured to selectively disengage the electricheater 1313 when the hot fluid recirculating between the engine 1314 andthe parasitic heater 1312 is sufficiently warm (e.g., after apredetermined time period, when the vehicle is put into drive, and/orunder some other condition).

FIG. 14 is a schematic illustration of a perception surface cleaningsystem 1410 for cleaning one or more perception sensors 1418 with heatedfluid, and for recirculating the heated fluid, configured in accordancewith another embodiment of the present technology. In the illustratedembodiment, a washer fluid pump 1404 is configured to pump washer fluid1401 from a reservoir 1402 to a delivery system 1406 having a pluralityof delivery valves 1408 and a single return valve 1420. A parasiticheater 1412 is arranged in parallel with the delivery system 1406 andconfigured to heat the fluid 1401 by transferring heat generated by avehicle engine 1414 (or other system) to the fluid 1401. The deliveryvalves 1408 and/or one or more other valves (e.g., a 3-way bypass valve)can be selectively opened/closed to permit the fluid 1401 to flow to (i)the heater 1412 for heating and subsequently back into the deliverysystem 1406 and/or (ii) from the delivery system 1406 and along one ormore parallel delivery channels 1428 to corresponding holding chambers1416. As described in detail above, the delivery system 1406 canselectively route all, none, or a portion of the fluid 1401 to theheater 1412 to heat the fluid 1401 to a desired temperature beforedirecting the fluid 1401 to one or more of the holding chambers 1416.

In the illustrated embodiment, each of the holding chambers 1416 isfluidly connected to a nozzle 1417 via a pre-nozzle check valve 1421.The nozzles 1417 are configured to distribute or spray the fluid 1401onto corresponding ones of the perception sensors 1418 to clean thesensors 1418 (e.g., to clear the sensors 1418 of occlusions). Thepre-nozzle check valves 1421 are configured to selectively fluidlyconnect the holding chambers 1416 to corresponding (i) ones of thenozzles 1417 or (ii) return channels 1426 configured to return the fluid1401 to the reservoir 1402 and/or the delivery system 1406. In theillustrated embodiment, each of the return channels 1426 includes areturn check valve 1432, and the return channels 1426 are mergedtogether via a return T-connector 1434 into a single channel received bythe single return valve 1420 of the delivery system 1406. In someembodiments, the delivery channels 1428, the return channels 1426,and/or other components of the system 1410 can comprise a dual lumentubing 1429 (shown in cross-section in FIG. 14).

A controller 1424 can be operably coupled to the pump 1404, atemperature sensor 1425 configured to sense the temperature of the fluid1401 in and/or proximate to the delivery system 1406, the deliverysystem 1406, and the sensors 1418. Periodically, the controller 1424 canrecirculate the fluid 1401 in one or more of the delivery channels 1428to ensure, that the fluid 1401 within the holding chambers 1416 iswithin a desired temperature range. More specifically, to recirculatethe fluid 1401 within one or more of the holding chambers 1416 and thedelivery channels 1428, the controller 1424 can open (i) selected onesof the delivery valves 1408 and (ii) the return valve 1420. In thiscase, when the pump 1404 moves the fluid 1401 through the deliveryvalves 1408 and along the delivery channels 1428, the fluid 1401 in theholding chambers 1416 is forced along the return channels 1426, throughthe return check valves 1432, through the return T-connector 1434, andthrough the return valve 1420 of the delivery system 1406. Because thereturn valve 1420 is open during recirculation, the pressure in theholding chambers 1416 does not exceed the threshold pressure required toopen the pre-nozzle check valves 1421. In one aspect of the presenttechnology, the dimensions (e.g., length, diameter, etc.) of the returncheck valves 1432, the return T-connector 1434, the return valve 1420,and the return channels 1426 (e.g., tubing) is selected to limit thepressure drop in this flow path. This can ensure that the pressure atthe pre-nozzle check valves 1421 does not exceed the cracking pressureof these valves during recirculation—which would permit the fluid 1401to pass therethrough. The return check valves 1432 are configured toinhibit or prevent back flow of the fluid 1401 from, for example, thedelivery system 1406 into the return channels 1426 during recirculation.

When the controller 1424 determines that one or more of the perceptionsensors 1418 are occluded, the controller 1424 can close the returnvalve 1420 and selectively engage the pump 1404 and the associated oneor more of the delivery valves 1408 to route the fluid 1401 along theselected delivery channels 1428 to the nozzles 1417 corresponding to theoccluded sensors 1418 to clean the corresponding occluded sensors 1418.Specifically, when the pump 1404 is activated with the return valve 1420closed, the pressure in the delivery channels 1428 can increase untilpressure at the pre-nozzle check valves 1421 exceeds the crackingpressures of the pre-nozzle check valves 1421—allowing the fluid 1401 topass therethrough to the nozzles 1417.

IV. SELECTED EMBODIMENTS OF SYSTEMS FOR CLEANING AND THERMALLY MANAGINGVEHICLE COMPONENTS

As set forth above, many vehicle components require or can benefit fromsurface cleaning with a fluid (e.g., heated washer fluid). Often, thesame vehicle components and/or other proximate components can alsobenefit from temperature control. For example, in some instances onecomponent requires surface cleaning while a different nearby componentrequires cooling. When these components are near to each other, it canbe advantageous to provide a combined system for cleaning and thermalmanagement. Accordingly, referring again to FIG. 1, in some embodimentsof the present technology a cleaning system (e.g., the cleaning system110) can be configured to deliver fluid, such as washer fluid, to one ormore vehicle components (e.g., the sensors 108 and/or the perceptionsurfaces 109) to both thermally manage (e.g., heat and/or cool) thevehicle components and to clean the vehicle components. In one aspect ofthe present technology, the present technology can advantageously usethe same or generally similar components to route and distribute fluidfor cleaning and temperature control. For example, the cleaning system110 can be configured to route warmed fluid or cooled fluid tocomponents of the vehicle 100, utilizing the same or similar washerfluid reservoir, washer fluid, fluid pump, delivery system, distributiontubing, controller, temperature sensors, etc., as described in detailabove with reference to FIGS. 2-14.

Washer fluid commonly used in vehicles is frequently a mix of water andup to 50% alcohol by volume (e.g., methanol (CH₃OH) or ethanol (C₂H₆O),depending on local regulations). Such washer fluid is commonly usedacross a range of temperatures from −30-65° C., and has well understoodthermal properties including a heat capacity between 3.0-4.1 joules permilliliter per degree Celsius, depending on the temperature andcomposition of the washer fluid. Because of its broad operatingtemperature range and reasonably high heat capacity, such washer fluidmay serve as a heat transfer medium in addition to a surface cleaningsolution.

In some embodiments, the cleaning system 110 (e.g., a sensor cleaningand temperature control system) is configured to pump washer fluid froma fluid reservoir and deliver the fluid to a distribution systemcomprising valves, pathways directing fluid flow, sensors, andconnectors. Fluid within the distribution system may be selectivelyrouted by the actuation of valves to be heated, to be cooled, or to doneither (e.g., leaving the fluid at ambient temperature or a temperatureof the fluid in the reservoir). The distribution system can selectivelyroute this fluid to one or more selected channels (e.g., tubes,conduits, etc.) that direct the fluid to a selected destination (e.g.,to one of the components of the vehicle 100) for cleaning and/ortemperature control. In some embodiments, the channels are selected byopening or closing one or more valves. The valves may be located distantfrom each other or near each other. For example, the valves can beelectrically-actuated solenoid valves mounted to or built into a sharedmanifold. In other embodiments, the control of flow in each channel maybe directed through adjusting the position of one or more multi-positionvalves such as rotary valves or may be directed through the combinationof different types of valves such as rotary valves and solenoid valves.

In some embodiments, heated washer fluid may be highly desirable forcleaning perception components or other vehicle components duringparticular times of the year, such as when ambient temperatures are low,and snow and ice can occlude perception surfaces. In contrast, cooledwasher fluid may be highly desirable for cooling the same vehiclecomponents during times of the year when ambient temperatures arehigher. Further, some vehicle components may require cooling at the sametimes of the year that their surfaces require cleaning, necessitatingthe delivery of both hot and cold fluid.

In some embodiments, the cleaning system 110 is configured to deliverfluid for temperature control and for cleaning at different locations onor features of a vehicle component. For example, cleaning fluid may besprayed on the lens of a camera, while temperature control fluid maypass through a heat exchanger mounted to the rear or the side of thecamera. Similarly, cleaning fluid may be sprayed on the surface of aheadlamp, while temperature control fluid may pass through a heatexchanger mounted to the rear or one of the sides of the headlamp.

In some embodiments, the cleaning system 110 includes a recirculatingfunction including, for example, any of the components, features, and/orconfigurations described in detail above with reference to FIGS. 10-14.For example, in some embodiments the cleaning system 110 can (i) routefluid to a fluid heater and then through a channel to a positionproximate a desired delivery point, and (ii) selectively route the fluidfrom the position proximate the delivery point, where it may have cooledover time, to return to the washer fluid reservoir. By thisarrangement/method, warm fluid is maintained proximate to a desiredpoint of delivery. Similarly, when component cooling is desired, thefluid may be routed to a chiller and then through a channel to a heatexchanger on the component to be cooled, and then returned to the fluidreservoir. The channel which carries the warmed fluid may be the same asthe channel which carries the cooled fluid, or warmed and cooled fluidsmay be carried in separate channels.

In one aspect of the present technology, the cleaning system 110 canthermally manage vehicle components intended to be fully hermeticallysealed, but that may not be completely sealed (e.g., 100%) duringoperation. More particularly, complete hermetic sealing is desirable toprotect internal electrical/electronic componentry of perception sensorssuch as cameras (which are expected to be the most common type ofperception sensor in vehicles) and headlamp assemblies. However, if thesealing is not perfect, contaminants (e.g., dust) and moisture candegrade the performance of these components. For example, condensationon the internal and/or external surfaces of a camera can cause temporaryand permanent malfunction of the camera. Likewise, cold camera lenses orheadlamp lenses can condense moisture in the form of water droplets,which eventually dry out and leave a film on the internal side of thelens. With headlamps, such contaminants can cause oncoming glare toapproaching vehicles, while also deteriorating visibility for the driverof the offending vehicle. With cameras, any condensed moisture or tracesof dust or film on the inside of the camera lens can make it difficultto generate a clear image.

More specifically, electronic cameras (e.g., as used in vehicle cameraperception systems) can be particularly susceptible to permanentinternal electrical malfunction when moisture condenses onelectric/electronic circuitry and causes electrolysis corrosion that caninterfere with and damage this circuitry. Moreover, such corrosion canalso generate oxidation gasses that condense on the inside surface ofthe camera lens—further degrading the camera. Suchelectrolysis/corrosion can happen at an increased rate in higherpopulation and industrial areas which commonly precipitate atmosphericdust that, when combined with condensed water, can form an electrolyteand result in accelerated electrolysis corrosion.

Similarly, whenever a cold vehicle enters a warm ambient environment(which will often contain higher levels of air moisture than coldoutside air)—as might happen when a car operating on a cold winter dayenters a warm garage, parking structure, or service area—the highermoisture ambient air will tend to condense as water droplets on the coldsurfaces of the vehicle, including those of the perception cameras. In areverse manner, when a car that has been parked inside a warm garagedrives outside into cold air, the warm higher moisture air containedwithin the car—and thus within vehicle perception cameras orsensors—will tend to condense into water and interrupt camera/sensorfunction. Even though electronic cameras generate some heat, the rate ofheat generation may not be great enough to prevent condensation or toquickly dry out moisture. Accordingly, in one aspect of the presenttechnology, the cleaning system 110 can provide thermal heating to suchcameras and/or other vehicle components to rapidly warm the cameras toreduce the above-noted deleterious effects of condensation.

FIGS. 15-17 are schematic illustrations more specifically illustratingvarious embodiments of closed-loop systems for cleaning and temperaturecontrol of vehicle components configured in accordance with embodimentsof the present technology. The detailed description of each embodimentfocuses mainly on those components that are new/different as compared toother embodiments. However, one skilled in the art will appreciate thatthe various embodiments can (i) include the same or generally similarfeatures (e.g., components, configurations, etc.), (ii) operate the sameor generally similarly, and/or (iii) that the various embodiments can becombined. Further, one skilled in the art will appreciate that thevarious embodiments discussed with reference to FIGS. 15-17 can (i)include the same or generally similar features (e.g., components,configurations, etc.) as those embodiments discussed with reference toFIGS. 2-14, (ii) operate the same or generally similarly as thoseembodiments discussed with reference to FIGS. 2-14, and/or (iii) thatthe various embodiments can be combined with each other and/or theembodiments discussed with reference to FIGS. 2-14. Moreover, one ofordinary skill in the art will appreciate that the number of componentscan vary in the following embodiments. For example, the systems of thepresent technology can have any number of delivery channels, returnchannels, sensors, heaters, chillers, heat exchangers, nozzles, etc.

FIG. 15 is a schematic illustration of a perception surface cleaning andtemperature control system 1510 configured in accordance with anembodiment of the present technology. In the illustrated embodiment, awasher fluid pump 1504 is configured to pump washer fluid 1501 from areservoir 1502 to a delivery system 1506 (e.g., a manifold, valvesystem, etc.) having a plurality of delivery valves 1508 and a pluralityof return valves 1520. A fluid heater 1512 and a fluid cooler or chiller1540 are individually connected to the delivery system 1506. The fluidheater 1512 can comprise a parasitic heater configured to heat the fluid1501 by transferring heat generated by a vehicle engine (or othersystem) to the fluid 1501, an electric heater configured to heat thefluid 1501 via a resistive heating element, another type of heater,and/or a combination of heaters (e.g., including an electric heater anda parasitic heater). In some embodiments, the fluid cooler 1540 isconfigured to cool the fluid 1501 via exchange with a cold fluid, suchas air or liquid cooled by an air conditioning system of a vehicle. Oneor more of the delivery valves 1508 and/or one or more other valves(e.g., a 3-way bypass valve) can be opened to route all, none, or aportion of the fluid 1501 to the heater 1512 and/or to the fluid cooler1540. For example, a first portion of the fluid 1501 can be routed tothe fluid heater 1512 and a second portion of the fluid 1501 can berouted to the fluid cooler 1540. The first and second portions can havethe same or different volumes. In other embodiments, all of the fluid1501 can be routed to the heater 1512, such as when only heated fluid isrequired/desirable. Put differently, the fluid 1501 can be selectivelydirected to the fluid heater 1512, the fluid cooler 1540, to neither, orto both.

Regardless of the one or more combinations of the fluid heater 1512 andthe fluid cooler 1540 used to heat/cool the fluid 1501, the deliveryvalves 1508 can be selectively opened/closed to permit the heated/cooledfluid 1501 to flow from the delivery system 1506 and along one or moreparallel delivery channels 1528 to corresponding pre-sensor valves 1523.The pre-sensor valves 1523 are configured to selectively fluidly connecteach of the delivery channels 1528 to (i) a nozzle 1517 configured tospray the fluid 1501 onto a corresponding perception sensor 1518 or (ii)a heat exchanger 1542 configured to heat and/or cool the sensor 1518 bygenerating a temperature differential between the fluid 1501 therein andthe sensor 1518. In the illustrated embodiment, the nozzle 1517 and theheat exchanger 1542 clean and cool/heat, respectively, the samecomponent—the sensor 1518. In other embodiments, the nozzle 1517 and theheat exchanger 1542 can operate with respect to different vehiclecomponents. For example, the nozzle 1517 could be configured to cleanthe sensor 1518 (e.g., a camera) while the heat exchanger 1542 could beconfigured to cool a different nearby component (e.g., another camera, asensor, etc.). As further shown in FIG. 15, return channels 1526 fluidlyconnect the heat exchangers 1542 to the return valves 1520 of thedelivery system 1506 and are configured to return the fluid 1501 to thedelivery system 1506 and/or the reservoir 1502.

A controller 1524 can be operably coupled to the pump 1504, atemperature sensor 1525 configured to sense the temperature of the fluid1501 in and/or proximate to the delivery system 1506, the deliverysystem 1506, the sensors 1518, and/or the pre-sensor valves 1523. Inoperation, the controller 1524 is configured to receive a signal (e.g.,a signal 1544) from one or more of the sensors 1518 and determinewhether the sensors 1518 require cleaning and/or thermal management.Based on the determination, the controller 1524 can operate the pump1504 (e.g., by sending a control signal 1546) and the delivery system1506 to selectively heat and/or cool the fluid 1501 before opening oneor more of the delivery valves 1508 to route the heated/cooled fluid1501 along the delivery channels 1528 corresponding to the sensors 1518requiring cleaning and/or thermal management. The controller 1524 canthen operate (e.g., actuate) the pre-sensor valves 1523 to selectivelydirect the fluid 1501 to the nozzles 1517 and/or the heat exchangers1542. Any of the fluid 1501 directed to the heat exchangers 1542 issubsequently returned to the delivery system 1506 and/or the reservoir1502 via the return valves 1520.

In some embodiments, one or more of the delivery valves 1508, the returnvalves 1520, and/or other valves of the delivery system 1506 can beindividually controlled solenoid valves or can be combined into a rotaryvalve system. In some embodiments, the delivery channels 1528, thereturn channels 1526, and/or other components of the system 1510 cancomprise a dual lumen tubing 1529 (shown in cross-section in FIG. 15).

FIG. 16 is a schematic illustration of a perception surface cleaning andtemperature control system 1610 configured in accordance with anotherembodiment of the present technology. In the illustrated embodiment, awasher fluid pump 1604 is configured to pump washer fluid 1601 from areservoir 1602 to a delivery system 1606 having a plurality of firstdelivery valves 1608 a, a plurality of second delivery valves 1608 b, aplurality of first return valves 1620 a, and a plurality of secondreturn valves 1620 b. A fluid heater 1612 and a fluid cooler or chiller1640 are individually connected to the delivery system 1606. One or moreof the first delivery valves 1608 a, the second delivery valves 1608 b,and/or other valves (e.g., a 3-way bypass valve) can be opened to routeall, none, or a portion of the fluid 1601 to the fluid heater 1612and/or to the fluid cooler 1640 to selectively heat/cool the fluid 1601.

In the illustrated embodiment, the first delivery valves 1608 a can beselectively opened/closed to permit the heated/cooled fluid 1601 to flowfrom the delivery system 1606 and along one or more parallel firstdelivery channels 1628 a to corresponding heat exchangers 1642. The heatexchangers 1642 can be configured to heat and/or cool nearby perceptionsensors 1618. First return channels 1626 a fluidly connect the heatexchangers 1642 to the first return valves 1620 a of the delivery system1606 and are configured to return the fluid 1601 to the delivery system1606 and/or the reservoir 1602. By this arrangement, the fluid 1601routed to the heat exchangers 1642 is recirculated within the system1610. The second delivery valves 1608 b can be selectively opened/closedto permit the heated/cooled fluid 1601 to flow from the delivery system1606 and along one or more parallel second delivery channels 1628 b topre-nozzle delivery valves 1623. Each of the pre-nozzle delivery valves1623 is configured to selectively route the fluid 1601 to (i) a nozzle1617 configured to spray the fluid 1601 onto a corresponding one of theperception sensors 1618 or (ii) a second return channel 1626 bconfigured to return the fluid 1601 to the delivery system 1606 and/orthe reservoir 1602 via the second return valves 1620 b. The pre-nozzledelivery valves 1623 can be three-way valves (e.g., three-way solenoidvalves), check valves, and/or other types of valves. As described indetail above with reference to FIGS. 10-14, the pre-nozzle deliveryvalves 1623 allow for the fluid 1601 in the second delivery channels1628 b to be recirculated back into the delivery system 1606 and/or thereservoir 1602 to be heated again. Moreover, in some embodiments, thesystem 1610 can include fluid holding chambers (e.g., insulated chambersconfigured to hold a volume of the fluid 1601 that is between about 1-5times greater than the expected volume of the fluid 1601 to be deliveredby the nozzles 1617) fluidly connected to the second delivery channels1628 b. In some such embodiments, the fluid holding chambers can bepositioned near the nozzles 1617 and before the pre-nozzle deliveryvalves 1623.

A controller 1624 can be operably coupled to the pump 1604, atemperature sensor 1625 configured to sense the temperature of the fluid1601 in and/or proximate to the delivery system 1606, the deliverysystem 1606, the sensors 1618, and/or the pre-nozzle delivery valves1623. In operation, the controller 1624 is configured to receive asignal (e.g., a signal 1644) from one or more of the sensors 1618 anddetermine whether the sensors 1618 require cleaning and/or thermalmanagement. Based on the determination, the controller 1624 can operatethe pump 1604 (e.g., by sending a control signal 1646) and the deliverysystem 1606 to selectively heat and/or cool the fluid 1601 beforeopening one or more of the first delivery valves 1608 a and/or thesecond delivery valves 1608 b to route the heated/cooled fluid 1601along the first delivery channels 1628 a and/or the second deliverychannels 1628 b corresponding to the sensors 1618 requiring cleaningand/or thermal management. More specifically, for example, if one thesensors 1618 requires thermal management, the controller 1624 canactuate (e.g., open) the corresponding one of the first delivery valves1608 a to route the fluid 1601 along the first delivery channel 1628 ato the heat exchanger 1642. Similarly, if one the sensors 1618 requirescleaning, the controller 1624 can actuate the corresponding one of thesecond delivery valves 1608 b to route the fluid 1601 along the seconddelivery channel 1628 b to the pre-nozzle delivery valve 1623. If thepre-nozzle delivery valve 1623 is a controller-actuatable valve (e.g., athree-way solenoid valve), the controller 1624 can control thepre-nozzle delivery valve 1623 to route the fluid to the nozzle 1617 forcleaning the sensor 1618. If the pre-nozzle delivery valve 1623 is acheck valve or other passive valve, the controller 1624 can control thedelivery system 1606 to close the corresponding one of the second returnvalves 1620 b such that that the pressure in the second delivery channel1628 b exceeds the cracking pressure of the pre-nozzle delivery valve1623, allowing the fluid 1601 to exit through the nozzle 1617.

In some embodiments, the controller 1624 is configured to determine thatrecirculation of the fluid 1601 second delivery channels 1628 b isneeded or desirable based on a temperature signal received from thetemperature sensor 1625 or another temperature sensor (e.g., positionedalong one of the second delivery channels 1628 b or at a holding chambercoupled thereto). In other embodiments, the controller 1624 canperiodically recirculate the second delivery channels 1628 b or can basethe determination that recirculation is needed on another input orcriteria. If the pre-nozzle delivery valves 1623 arecontroller-actuatable valves (e.g., three-way solenoid valves), thecontroller 1624 can recirculate the fluid 1601 in the second deliverychannels 1628 b by controlling the pre-nozzle delivery valves 1623 toroute the fluid 1601 to the second return channels 1626 b. If thepre-nozzle delivery valves 1623 are check valves or other passivevalves, the controller 1624 can recirculate the fluid 1601 in the seconddelivery channels 1628 b by controlling the delivery system 1606 to openthe second return valves 1620 b such that that the pressure in thesecond delivery channels 1628 b does not exceed the cracking pressure ofthe pre-nozzle delivery valves 1623, preventing the fluid 1601 fromexiting through the nozzles 1617 and allowing the fluid 1601 to flowinto the second return channels 1626 b.

In some embodiments, the first delivery channels 1628 a, the seconddelivery channels 1628 b, the first return channels 1626 a, the secondreturn channels 1626 b, and/or other components of the system 1610 cancomprise a four-lumen tubing 1649 (shown in cross-section in FIG. 16).In some embodiments, the four-lumen tubing 1649 can be co-extruded. Suchan arrangement can reduce the number of tubes/conduits required toservice each of the sensors 1618.

FIG. 17 is a schematic illustration of a perception surface cleaning andtemperature control system 1710 configured in accordance with anotherembodiment of the present technology. In the illustrated embodiment, awasher fluid pump 1704 is configured to pump washer fluid 1701 from areservoir 1702 to a delivery system 1706 (e.g., a manifold) having aplurality of first delivery valves 1708 a, a plurality of seconddelivery valves 1708 b, and a plurality of return valves 1720. A fluidheater 1712 and a fluid cooler or chiller 1740 are individuallyconnected to the delivery system 1706. One or more of the first deliveryvalves 1708 a, the second delivery valves 1708 b, and/or other valves(e.g., a 3-way bypass valve) can be opened to route all, none, or aportion of the fluid 1701 to the fluid heater 1712 and/or to the fluidcooler 1740 to heat/cool the fluid 1701. As described in detail above,the first delivery valves 1708 a can be selectively opened/closed topermit the heated/cooled fluid 1701 to flow from the delivery system1706 and along one or more parallel first delivery channels 1728 a tocorresponding heat exchangers 1742 configured to heat and/or cool nearbyperception sensors 1718. First return channels 1726 a are fluidlyconnected to the heat exchangers 1742 and are configured to receive thefluid 1701 after it has been heated/cooled by the heat exchangers 1742.The second delivery valves 1708 b can be selectively opened/closed topermit the heated/cooled fluid 1701 to flow from the delivery system1706 and along one or more parallel second delivery channels 1728 b topre-nozzle delivery valves 1723 (e.g., controller-operable solenoidvalves, check valves, etc.). Each of the pre-nozzle delivery valves 1723is configured to selectively route the fluid 1701 to (i) a nozzle 1717configured to spray the fluid 1701 onto a corresponding one of thesensors 1718 or (ii) a second return channel 1126 b.

In the illustrated embodiment, each of the first return channels 1726 aincludes a first return check valve 1732 a and each of the second returnchannels 1726 b includes a second return check valve 1732 b. The firstreturn channels 1726 a and the second return channels 1726 bcorresponding to the same one of the sensors 1718 are merged togethervia a return T-connector 1734 into a single return channel 1748 receivedby a corresponding one of the return valves 1720 of the delivery system1706. In the illustrated embodiment, three channels are used to carrythe fluid 1701 between the delivery system 1706 (e.g., the firstdelivery channels 1728 a, the second delivery channels 1728 b, and thesingle return channel 1748) and each of the sensors 1718. In someembodiments, these channels can comprise a three-lumen tubing 1739(shown in cross-section in FIG. 17) that can be, for example,co-extruded. Such an arrangement can reduce the number of tubes/conduitsrequired to service each of the sensors 1718.

A controller 1724 can be operably coupled to the pump 1704, atemperature sensor 1725 configured to sense the temperature of the fluid1701 in and/or proximate to the delivery system 1706, the deliverysystem 1706, the sensors 1718, and/or the pre-nozzle delivery valves1723. In operation, the controller 1724 is configured to receive asignal (e.g., a signal 1744) from one or more of the sensors 1718 anddetermine whether the sensors 1718 require cleaning and/or thermalmanagement. Based on the determination, the controller 1724 can operatethe pump 1704 (e.g., by sending a control signal 1746) and the deliverysystem 1706 to selectively heat and/or cool the fluid 1701 beforeopening one or more of the first delivery valves 1708 a and/or thesecond delivery valves 1708 b to route the heated/cooled fluid 1701along the first delivery channels 1728 a and/or the second deliverychannels 1728 b corresponding to the sensors 1718 requiring cleaningand/or thermal management. As described in detail above with referenceto FIGS. 10-14 and 17, the pre-nozzle delivery valves 1723 allow for thefluid 1701 in the second delivery channels 1728 b to be recirculatedback into the delivery system 1706 and/or the reservoir 1702 to bereheated. For example, to recirculate the fluid 1701 in the seconddelivery channels 1728 b, the controller 1724 can activate the pump 1704to pump the fluid 1701 through the second delivery valves 1708 b while(i) opening the return valves 1720 of the delivery system 1706 if thepre-nozzle delivery valves 1723 are check valves (or other passivevalves) or (ii) actuating the pre-nozzle delivery valves 1723 to directthe fluid 1701 to the second return channels 1726 b if the pre-nozzledelivery valves 1723 are controller-operable valves (e.g., solenoidvalves). The first return check valves 1732 a and the second returncheck valves 1732 b are configured to inhibit or prevent back flow ofthe fluid 1701 from, for example, the delivery system 1706 into thefirst return channels 1726 a and second return channels 1726 b duringrecirculation.

Moreover, in some embodiments, the system 1710 can include fluid holdingchambers (e.g., insulated chambers configured to hold a volume of thefluid 1701 that is between about 1-5 times greater than the expectedvolume of the fluid 1701 to be delivered by the nozzles 1717) fluidlyconnected to the second delivery channels 1728 b. In some suchembodiments, the fluid holding chambers can be positioned near thenozzles 1717 and before the pre-nozzle delivery valves 1723.

Accordingly, referring to FIGS. 15-17 together, a perception surfacecleaning and temperature control system configured in accordance withthe present technology can include (i) combined delivery channels forrouting fluid together to a nozzle and a heat exchanger and a singlereturn channel for recirculating the fluid from the heat exchanger (FIG.15), (ii) separate delivery channels for routing fluid to a nozzle and aheat exchanger and separate return channels for recirculating the fluidfrom the heat exchanger and proximate to the nozzle (FIG. 16), and/or(iii) separate delivery channels for routing fluid to a nozzle and aheat exchanger and a combined return channel for recirculating the fluidfrom the heat exchanger and proximate to the nozzle (FIG. 17).

V. SELECTED EMBODIMENTS OF SYSTEMS FOR CLEANING AND DRYING VEHICLECOMPONENTS

As set forth above, many perception components require or can benefitfrom surface cleaning with a fluid (e.g., heated washer fluid). Often,the same perception components and/or other components can also benefitfrom drying or cleaning via forced air. For example, in some instances aperception sensor's ability to “see” may be hindered by the presence ofwater or dust on the surface of the sensor. Water droplets may occur dueto rain, condensation, spraying of cleaning fluid, or some other source.While washer fluid might remove dust, the surface might require a secondair drying step before vision is fully restored. Accordingly, referringagain to FIG. 1, in some embodiments of the present technology acleaning system (e.g., the cleaning system 110) can be configured todeliver forced air to one or more vehicle components (e.g., the sensors108 and/or the perception surfaces 109). For example, the cleaningsystem 110 can deliver forced air to one or components of the vehicle100 to remove water droplets, dust, and/or other contaminants therefrom.That is, the cleaning system can selectively blow air across one or moreperception surfaces to provide improved surface cleaning, clearing, anddrying. In some embodiments, the cleaning system 110 is configured todeliver air at high velocities, pre-dry the air, and/or warm the air. Insome embodiments, the cleaning system 110 can also deliver washer fluidto clean the vehicle components and/or deliver fluid to thermallycontrol the components.

The source of forced air can be a blower, an air compressor, an airaccumulator and/or another source. In some embodiments, the cleaningsystem 110 includes a valve system that selectively routes the air to aheating and/or drying system and back to the valve system before beingrouted to one or more air distribution channels. In some embodiments,the valve system does not select an air flow containing conduit, butrather pressurizes a plenum which delivers forced air to multiplechannels at once. In some embodiments, forced air is deliveredcontinuously during vehicle operation, as forced air may help preventocclusion of vehicle components. In other embodiments, forced air can beselectively provided.

In some embodiments, washer fluid and forced air may be routed from acentral valve system (e.g., manifold) to a plurality of nozzlesconfigured to deliver the air and fluid. The air and fluid may bedelivered through the same nozzle or nozzles, or may be deliveredthrough separate nozzles. In other embodiments, washer fluid and forcedair may be routed from a central valve system to one or more peripheralvalve systems (e.g., hierarchical manifolds), which route the washerfluid and air to the nozzles.

In some embodiments, the cleaning system 110 includes (i) a washer fluidmanifold and valve system configured to direct flow to a flow channel(e.g., a hose, tube, etc.) corresponding to a vehicle component to becleaned and (ii) an air flow manifold and valve system configured todirect airflow to a flow channel (e.g., a hose, tube, etc.)corresponding to the vehicle component to be cleaned and/or dried. Inother embodiments, distribution of washer fluid and air is accomplishedvia a common manifold in which either washer fluid or compressed air maybe selected as the input fluid and routed—via a tube that may holdeither washer fluid or compressed air—to a common nozzle which appliesthe washer fluid and/or the air to the vehicle component.

In some embodiments, the cleaning system 110 can be configured torecirculate washer fluid. For example, the cleaning system 110 caninclude a tube configured to carry fluid from a valve system to anozzle, and another tube configured to carry fluid back from the nozzleto the valve system. Washer fluid may be pumped so as to recirculate inthe tubes without spraying out of the nozzle. When a surface needscleaning, the recirculation of fluid is stopped and compressed air isallowed to flow into the tubes, forcing washer fluid out of the nozzleunder high pressure. Subsequently, the recirculation pathway can bere-opened, forcing liquid out of the remainder of the tubing flowingtowards the nozzle. When the tubing behind the nozzle has cleared ofliquid, the recirculation pathway can be closed again, causing theforced air to exit the nozzle to dry the surface.

In some embodiments, tubes for carrying air and fluid can be combinedinto a dual-lumen tubing. For example, the air and fluid can be carriedby a coaxial conduit including an inner channel for carrying washerfluid and an outer channel for carrying air. In some such embodiments,the inherent proximity of the inner and outer channels provides foradvantageous heat transfer between the air and the liquid washer fluid.Alternatively, the flow channels may be side-by-side in parallel tubesor in co-extruded multi-lumen tubing. As the volumetric flow rates ofwasher fluid and air may differ significantly, the diameters of the flowpaths within the tubing may not be the same.

FIGS. 18-23 are schematic illustrations more specifically illustratingvarious embodiments of closed-loop systems for cleaning and/or dryingvehicle components configured in accordance with embodiments of thepresent technology. The detailed description of each embodiment focusesmainly on those components that are new/different as compared to otherembodiments. However, one skilled in the art will appreciate that thevarious embodiments can (i) include the same or generally similarfeatures (e.g., components, configurations, etc.), (ii) operate the sameor generally similarly, and/or (iii) that the various embodiments can becombined. Further, one skilled in the art will appreciate that thevarious embodiments discussed with reference to FIGS. 18-23 can (i)include the same or generally similar features (e.g., components,configurations, etc.) as those embodiments discussed with reference toFIGS. 2-17, (ii) can operate the same or generally similarly as thoseembodiments discussed with reference to FIGS. 2-17, and/or (iii) can becombined with each other and/or the embodiments discussed with referenceto FIGS. 2-17. Moreover, one of ordinary skill in the art willappreciate that the number of components can vary in the followingembodiments. For example, the systems of the present technology can haveany number of delivery channels, return channels, sensors, heaters,chillers, heat exchangers, nozzles, etc.

FIG. 18 is a schematic illustration of a perception surface cleaning anddrying system 1810 configured in accordance with an embodiment of thepresent technology. In the illustrated embodiment, the system 1810includes a washer fluid pump 1804 configured to pump washer fluid 1801from a reservoir 1802 to a delivery system 1850 (e.g., a manifold, valvesystem, etc.) having a plurality of fluid delivery valves 1808 and asingle return valve 1820. A heater 1812 (e.g., a parasitic and/orelectric heater) is configured to heat the fluid 1801. A bypass valve(e.g., a three-way bypass valve) 1851 can be selectively opened/closedto permit the fluid 1801 to flow to the heater 1812 for heating andsubsequently back into the delivery system 1850. The fluid deliveryvalves 1808 can be selectively opened/closed to permit the fluid 1801 toflow from the delivery system 1850 and along one or more parallel fluiddelivery channels 1828 to corresponding holding chambers 1816. Each ofthe holding chambers 1816 is fluidly connected to a nozzle 1817 via apre-nozzle check valve 1821. The nozzles 1817 are configured todistribute or spray the fluid 1801 onto corresponding perception sensors1818 to clean the sensors 1818 (e.g., clear the sensors 1818 ofocclusions). The pre-nozzle check valves 1821 are configured toselectively fluidly connect the holding chambers 1816 to corresponding(i) ones of the nozzles 1817 or (ii) return channels 1826 configured toreturn the fluid 1801 to the reservoir 1802 and/or the delivery system1850. In the illustrated embodiment, each of the return channels 1826includes a return check valve 1832, and the return channels 1826 aremerged together via a return T-connector 1834 into a single channelreceived by the single return valve 1820 of the delivery system 1850. Asdescribed in detail above, this arrangement can enable the selectiverecirculation of the fluid 1801 from the holding chambers 1816.

In the illustrated embodiment, the system 1810 further includes a forcedair source 1852 (e.g., a blower, an air compressor, and/or a compressedair accumulator) configured to provide air flow to the delivery system1850. More specifically, the delivery system 1850 can include an airmanifold 1854 that divides the air flow from the air source 1852 intoone or more parallel air delivery channels 1858. In operation, the airflows through the air delivery channels 1858 to nozzles 1855 configuredto direct the air against corresponding ones of the sensors 1818. In oneaspect of this embodiment, the delivery system 1850 does not select anair flow containing conduit, but rather pressurizes the air manifold1854 which delivers forced air to all of the air delivery channels 1858at once.

A controller 1824 can be operably coupled to the pump 1804, the airsource 1852, the delivery system 1850, and the sensors 1818. When thecontroller 1824 determines that one or more of the perception sensors1818 are occluded, the controller 1824 can close the return valve 1820and selectively engage the pump 1804 and the associated one or more ofthe fluid delivery valves 1808 to route the fluid 1801 along theselected fluid delivery channels 1828 to the nozzles 1817 correspondingto the occluded sensors 1818 to clean the corresponding occluded sensors1818. Similarly, the controller 1824 can control the air source 1852 toprovide air flow at the sensors 1818. In some embodiments, thecontroller 1824 is configured to trigger air flow soon after and/orduring delivery of the fluid 1801 to one or more of the sensors 1818.For example, forced air can be provided immediately after delivery ofthe fluid 1801 to dry the sensors 1818.

In some embodiments, the air source 1852 is operated continuously duringoperation of a vehicle incorporating the system 1810 to, for example,help prevent occlusion of the sensors 1818. In other embodiments, thecontroller 1824 can selectively engage the air source 1852 duringoperation.

FIG. 19 is a schematic illustration of a perception surface cleaning anddrying system 1910 configured in accordance with another embodiment ofthe present technology. In the illustrated embodiment, a fluid pump 1904is configured to deliver washer fluid 1901 from a reservoir 1902 to adelivery system 1950 for heating via a heater 1912 and subsequentdelivery to one or more perception sensors 1918 and/or recirculation tothe reservoir 1902, as described in detail above. In some embodiments,the fluid delivery components of the system 1910 are identical to thoseof the system 1810 described in detail above with reference to FIG. 18.

In the illustrated embodiment, however, the system 1910 includes an airsource comprising an air compressor 1957 and a compressed airaccumulator 1959 configured to provide air flow to the delivery system1950. For example, the delivery system 1950 can include an air manifold1954 that divides the air flow from the air source into one or moreparallel air delivery channels 1958. In the illustrated embodiment, thedelivery system 1950 includes an air accumulator valve 1960 that can beopened/closed to allow air flow into the air manifold 1954. When the airaccumulator valve 1960 is open and the air source is activated, airflows through the air delivery channels 1958 to nozzles 1955 configuredto direct the air against corresponding ones of the sensors 1918.

A controller 1924 can be operably coupled to the pump 1904, the airsource (e.g., the air compressor 1957), the delivery system 1950, thesensors 1918, and one or more delivery system sensors 1962 (e.g.,temperature sensors, pressure gauges, transducers, and/or other sensorsfor sensing a condition, parameter, etc., of the fluid 1901 and/or airwithin and/or proximate to the delivery system 1950). When thecontroller 1924 determines that one or more of the sensors 1918 areoccluded, the controller 1924 can route the fluid 1901 to the nozzles1917 corresponding to the occluded sensors 1918 to clean thecorresponding occluded sensors 1918. Similarly, the controller 1924 cancontrol the air source (e.g., the air compressor 1957) and open the airaccumulator valve 1960 to provide air flow at the sensors 1918. In someembodiments, the controller 1924 is configured to trigger air flow soonafter and/or during delivery of the fluid 1901 to one or more of thesensors 1918. For example, forced air can be provided immediately afterdelivery of the fluid 1901 to dry the sensors 1918.

FIG. 20 is a schematic illustration of a perception surface cleaning anddrying system 2010 configured in accordance with another embodiment ofthe present technology. In the illustrated embodiment, a fluid pump 2004is configured to deliver washer fluid 2001 from a reservoir 2002 to adelivery system 2050 for heating via a heater 2012 and subsequentdelivery to one or more perception sensors 2018 and/or recirculation tothe reservoir 2002, as described in detail above. In some embodiments,the fluid delivery components of the system 2010 are identical to thoseof the system 1810 and/or the system 1910 described in detail above withreference to FIGS. 18 and 19. Likewise, the system 2010 includes an airsource comprising an air compressor 2057 and a compressed airaccumulator 2059 configured to provide air flow to the delivery system2050.

In the illustrated embodiment, however, the delivery system 2050includes an air manifold 2054 that divides the air flow from the airsource into one or more parallel air delivery channels 2058, and aplurality of air delivery valves 2060 that can be selectivelyopened/closed to allow air flow into individual ones of the air deliverychannels 2058. That is, one or more of the air delivery valves 2060 canbe selectively opened to allow air to flow through a corresponding oneof the air delivery channels 2058 to a nozzle 2055 configured to directthe air against a corresponding one of the sensors 2018.

A controller 2024 can be operably coupled to the pump 2004, the airsource (e.g., the air compressor 2057), the delivery system 2050, thesensors 2018, and one or more delivery system sensors 2062 (e.g.,temperature sensors, pressure gauges, transducers, and/or other sensorsfor sensing a condition, parameter, etc., of the fluid 2001 and/or airwithin and/or proximate to the delivery system 2050). When thecontroller 2024 determines that one or more of the sensors 2018 areoccluded, the controller 2024 can route the fluid 2001 to the nozzles2017 corresponding to the occluded sensors 2018 to clean thecorresponding occluded sensors 2018. Similarly, the controller 2024 cancontrol the air source (e.g., the air compressor 2057) and selectivelyopen one or more of the air delivery valves 2060 to provide air flow tocorresponding ones of the sensors 2018.

FIG. 21 is a schematic illustration of a perception surface cleaning anddrying system 2110 configured in accordance with another embodiment ofthe present technology. In the illustrated embodiment, a fluid pump 2104is configured to deliver washer fluid 2101 from a reservoir 2102 to adelivery system 2150 for heating via a heater 2112. The delivery system2150 is configured to selectively deliver (e.g., via actuation of one ormore delivery valves) the fluid 2101 along one or more parallel fluiddelivery channels 2128 to corresponding holding chambers 2116. Thesystem 2110 further includes an air source comprising an air compressor2157 and a compressed air accumulator 2159 configured to provide airflow to the delivery system 2150. The delivery system 2150 includes anair manifold 2154 that divides the air flow from the air source into oneor more parallel air delivery channels 2158, and a plurality of airdelivery valves 2160 that can be selectively opened/closed to allow airflow into individual ones of the air delivery channels 2158.

In the illustrated embodiment, the air delivery channels 2158 and thefluid delivery channels 2128 for each of the sensors 2118 are joinedtogether via a T-connector 2166 connected to an air and fluid deliverynozzle 2164. That is, the nozzles 2164 are configured to both (i)distribute or spray the fluid 2101 onto the sensors 2118 to clean thesensors 2118 (e.g., to clear the sensors 2118 of occlusions) and (ii)direct the air against the sensors 2118 to clean, dry, etc., the sensors2118. In the illustrated embodiment, an air flow check valve 2167inhibits or prevents back flow of the fluid 2101 into the air deliverychannels 2158. Similarly, a fluid flow check valve 2169 inhibits or evenprevents back flow of air into the fluid delivery channels 2128.

A controller 2124 can be operably coupled to the pump 2104, the airsource (e.g., the air compressor 2157), the delivery system 2150, thesensors 2118, and one or more delivery system sensors 2162. When thecontroller 2124 determines that one or more of the sensors 2118 areoccluded, the controller 2124 can route the fluid 2101 to the nozzles2164 corresponding to the occluded sensors 2118 to clean thecorresponding occluded sensors 2118. Similarly, the controller 2124 cancontrol the air source (e.g., the air compressor 2157) and selectivelyopen one or more of the air delivery valves 2160 to provide air flow tothe occluded sensors 2118 via the same nozzles 2164. In someembodiments, air can be delivered after the fluid 2101 to, for example,dry the sensors 2118. In other embodiments, the fluid 2101 and air canbe delivered simultaneously, or air can be delivered before the fluid2101.

FIG. 22 is a schematic illustration of a perception surface cleaning anddrying system 2210 configured in accordance with another embodiment ofthe present technology. In the illustrated embodiment, a pump 2204 isconfigured to deliver washer fluid 2201 from a reservoir 2202 to adelivery system 2250 for heating via a heater 2212. The delivery system2250 includes a fluid and air delivery manifold 2268 including aplurality of delivery valves 2208. The system 2210 further includes anair source comprising an air compressor 2257 and a compressed airaccumulator 2259 configured to provide air flow to the delivery system2250. More specifically, in the illustrated embodiment the air source isselectively connected to the delivery manifold 2268 via an air deliveryvalve 2260. By this arrangement, the delivery manifold 2268 is connectedto both the air source and the fluid reservoir 2202 and is configured todivide and deliver the fluid 2201 along one or more parallel deliverychannels 2228 to holding chambers 2216.

Each of the holding chambers 2216 is fluidly connected to an air andfluid delivery nozzle 2264 via a pre-nozzle check valve 2221. Thepre-nozzle check valves 2221 are configured to selectively fluidlyconnect the holding chambers 2216 to corresponding (i) ones of thenozzles 2217 or (ii) return channels 2226 configured to return the fluid2201 to the reservoir 2202 and/or the delivery system 2206. For example,in the illustrated embodiment each of the return channels 2226 includesa return check valve 2232, and the return channels 2226 are mergedtogether via a return T-connector 2234 into a single channel received bya single return valve 2220 of the delivery system 2250. As described indetail above, this arrangement allows for the recirculation of the fluid2201 from the holding chambers 2216 to the fluid reservoir 2202.

A controller 2224 can be operably coupled to the pump 2204, the airsource (e.g., the air compressor 2257), the delivery system 2250, thesensors 2218, and one or more delivery system sensors. When thecontroller 2224 determines that one or more of the sensors 2218 areoccluded, the controller 2224 can route the fluid 2201 to the nozzles2264 corresponding to the occluded sensors 2218 to clean thecorresponding occluded sensors 2218. More specifically, the controller2224 can close the return valve 2220 of the delivery system 2250 whileoperating the pump 2204 and/or the air source (e.g., the air compressor2257) to increase the pressure in the delivery channels 2228 above thecracking-pressure of the pre-nozzle check valves 2221. That is, eitheror both of the pump 2204 and the air source can be selectively operatedto provide the required pressure for delivering the fluid 2201 from thenozzles 2264.

When the air source is used to initiate delivery of the fluid 2201, theair flows behind the fluid 2201 in the delivery channels 2228, therebydriving the fluid 2201. In one aspect of the present technology, as thefluid 2201 is ejected from the holding chambers 2216 through the nozzles2264, the fluid 2201 within the delivery channels 2228 flows to refillthe holding chamber 2216, while compressed air fills part or all of thedelivery manifold 2268, and possibly a portion of the delivery channels2228. Pressure moves through the fluid 2201 at the speed of soundresulting in nearly instantaneous commencement of fluid flow from thenozzles 2264. Moreover, the fluid 2201 is expelled through the nozzle2264 at a high rate depending on the pressure in and the volume of theair source. In some embodiments, for example, the fluid 2201 can beexpelled at a rate of about 50 milliliters per second. Delivery of 5milliliters of the fluid 2201 can therefore occur within about 0.1second of the opening of the air delivery valve 2260.

To stop delivery of the fluid 2201 from the nozzles 2264, the controller2224 can close the air delivery valve 2260, open the return valve 2220,and/or close the selected delivery valves 2208. If forced air deliveryto the sensors 2218 is not desired, the air delivery valve 2260 isclosed, and the pump 2204 can pump the fluid 2201 through the deliverysystem 2250 to (i) refill the selected delivery channels 2228 and theholding chambers 2216 and (ii) expel any remaining air entrapped in thedelivery manifold 2268 and/or the delivery channels 2228 into the washerfluid reservoir 2202. If forced air delivery to the sensors 2218 isdesired, the air delivery valve 2260 and the return valve 2220 areopened (or remain open). This allows pressurized air to continue todrive the fluid 2201 out of the selected delivery channels 2228 and theholding chambers 2216. After a short period (e.g., less than about 3seconds, less than about 1 second, less than about 0.5 second, etc.) inwhich the fluid 2201 is forced through the return channels 2226 and intothe reservoir 2202, the return valve 2220 can be closed. This allows theair source to increase the pressure within the holding chambers 2216above the cracking pressure of the pre-nozzle check valves 2221 so thatthe pre-nozzle check valves 2221 open, thereby allowing air to beexpelled onto the sensors 2218.

In some embodiments, the delivery channels 2228 (e.g., tubes) can have arelatively small inner diameter (e.g., about 4 millimeters) such thatthe volume per unit length of the delivery channels 2228 is relativelysmall (e.g., about 12.6 milliliters per meter of length of a4-millimeter inner diameter tube). The volume of the fluid 2201 desiredto be delivered to the sensors 2218 can vary depending on the size ofthe sensors 2218 (e.g., a surface size), the type of occlusion,environmental factors, etc. However, the volume to be delivered may bequite small, such as 1 milliliter per square centimeter. A small (e.g.,2.5-centimeter diameter circular surface of one of the sensors 2218)might require 5 milliliters of hot washer fluid or less.

FIG. 23 is a schematic illustration of a perception surface cleaning anddrying system 2310 configured in accordance with another embodiment ofthe present technology. In the illustrated embodiment, a fluid pump 2304is configured to deliver washer fluid 2301 from a reservoir 2302 to adelivery system 2350 for heating via a heater 2312 (e.g., a parasiticheater configured to transfer heat generated by a vehicle engine 2314(or other system) to the fluid 2301. The delivery system 2350 isconfigured to selectively deliver the fluid 2301—via actuation of one ormore fluid delivery valves 2308—along one or more parallel fluiddelivery channels 2328 to perception sensors 2318 to clean the sensors2318. The system 2310 further includes an air source 2352 comprising ablower. The delivery system 2350 includes an air manifold that dividesthe air flow from the air source 2352 into one or more parallel airdelivery channels 2358, and a plurality of air delivery valves 2360 thatcan be selectively opened/closed to allow air flow into individual onesof the air delivery channels 2358.

In the illustrated embodiment, the delivery system 2350 is configured toselectively route the air from the air source 2352 to the heater 2312 toheat the air. More specifically, a controller 2324 can be operablycoupled to the delivery system 2350, the air source 2352, the sensors2318, the pump 2304, temperature sensors, pressure sensors, and/or othercomponents of the system 2310. In some embodiments, the controller 2324can control the delivery system 2350 and/or the air source 2352 toselectively route all of the air to the heater 2312 or to bypass theheater 2312 and remain unheated. In other embodiments, the deliverysystem 2350 may direct only a first portion/volume of air to the heater2312 for heating. The first portion can subsequently mix with aremaining second portion/volume of air that bypasses the heater 2312within a volume of the delivery system 2350 (e.g., within the airmanifold) to achieve an air temperature in between that of the airexiting the air source 2352 and the air exiting the heater 2312. Forexample, in some embodiments the delivery system 2350 may contain avariable aperture valve to direct a portion of the air to the heater2312. In other embodiments, the delivery system 2350 can include athree-way valve that selectively connects (e.g., based on a controlsignal from the controller 2324) the air source 2352 to (i) the airmanifold and the air delivery valves 2360 or (ii) the heater 2312. Inyet other embodiments, the various valves of the delivery system 2350can be individually controlled solenoid valves or may be combined into arotary valve system.

When the controller 2324 determines that one or more of the sensors 2318are occluded, the controller 2324 can route the fluid 2301 to fluiddelivery nozzles 2317 corresponding to the occluded sensors 2318 toclean the corresponding occluded sensors 2318. Similarly, the controller2324 can control the air source 2352 and the delivery system 2350 toprovide heated and/or unheated air flow to the occluded sensors 2318 vianozzles 2355.

As one of ordinary skill in the art will appreciate, any of theembodiments described with reference to FIGS. 18-22 can be modified toinclude heating air prior to delivering the air to one or more occludedsensors.

VI. SELECTED EMBODIMENTS OF SYSTEMS FOR CLEANING, DRYING, AND THERMALLYMANAGING VEHICLE COMPONENTS

As set forth above, many vehicle components require or can benefit fromsurface cleaning with a fluid (e.g., heated washer fluid), surfacecleaning or drying via forced air, and/or temperature control.Accordingly, referring again to FIG. 1, in some embodiments of thepresent technology a cleaning system (e.g., the cleaning system 110) canbe configured to (i) heat and deliver fluid, such as washer fluid, toone or more vehicle components (e.g., the sensors 108 and/or theperception surfaces 109), (ii) to deliver forced air to clean, dry,remove contaminants, etc., from the vehicle components, and (iii)control a temperature (heat and/or cool) of the vehicle components.

Accordingly, FIGS. 24 and 25 are schematic illustrations morespecifically illustrating various embodiments of closed-loop systems forcleaning, drying, and thermally managing vehicle components configuredin accordance with embodiments of the present technology. The detaileddescription of each embodiment focuses mainly on those components thatare new/different as compared to other embodiments. However, one skilledin the art will appreciate that the various embodiments can (i) includethe same or generally similar features (e.g., components,configurations, etc.), (ii) operate the same or generally similarly,and/or (iii) that the various embodiments can be combined. Further, oneskilled in the art will appreciate that the various embodimentsdiscussed with reference to FIGS. 24 and 25 can (i) include the same orgenerally similar features (e.g., components, configurations, etc.) asthose embodiments discussed with reference to FIGS. 2-23, (ii) operatethe same or generally similarly as those embodiments discussed withreference to FIGS. 2-23, and/or (iii) that the various embodiments canbe combined with each other and/or with the embodiments discussed withreference to FIGS. 2-23. Moreover, one of ordinary skill in the art willappreciate that the number of components can vary in the followingembodiments. For example, the systems of the present technology can haveany number of delivery channels, return channels, sensors, heaters,chillers, heat exchangers, nozzles, etc.

FIG. 24 is a schematic illustration of a vehicle component cleaning,drying, and thermal management system 2410 configured in accordance withan embodiment of the present technology. In the illustrated embodiment,a washer fluid pump 2404 is configured to pump washer fluid 2401 from areservoir 2402 to a delivery system 2470 having a plurality of firstfluid delivery valves 2408 a, a plurality of second fluid deliveryvalves 2408 b, a plurality of air delivery valves 2460, and a pluralityof return valves 2420. A fluid heater 2412 (e.g., a parasitic heaterconfigured to transfer heat generated by a vehicle engine 2414 (or othersystem) to the fluid 2401) and a fluid cooler or chiller 2440 areindividually connected to the delivery system 2470. The delivery system2470 is configured to route all or a portion of the fluid 2401 to thefluid heater 2412 and/or to the fluid cooler 2440 to heat/cool the fluid2401. The system 2410 also includes an air source 2452 configured toprovide air flow to the delivery system 2450 (e.g., to an air manifold).

The air delivery valves 2460 can be selectively opened/closed to allowair to flow from the delivery system 2470 and along one or more parallelair delivery channels 2458 to air delivery nozzles (not shown)configured to direct the air against perception sensors 2418. The firstfluid delivery valves 2408 a can be selectively opened/closed to permitthe heated/cooled fluid 2401 to flow from the delivery system 2470 andalong one or more parallel first fluid delivery channels 2428 a tocorresponding heat exchangers (not shown) configured to heat and/or coolthe perception sensors 2418. The second fluid delivery valves 2408 b canbe selectively opened/closed to permit the heated/cooled fluid 2401 toflow from the delivery system 2470 and along one or more parallel secondfluid delivery channels 2428 b to holding chambers 2416 and pre-nozzledelivery valves 2423 (e.g., controller-operable solenoid valves, checkvalves, etc.). Each of the pre-nozzle delivery valves 2423 is configuredto selectively route the fluid 2401 to a nozzle 2417 configured to spraythe fluid 2401 onto a corresponding one of the sensors 2418. The fluid2401 from the heat exchangers and/or recirculated from the holdingchambers 2416 is aggregated in a single, common return channel 2448.

A controller 2424 can be operably coupled to the pump 2404, the airsource 2452, the delivery system 2470, the sensors 2418, temperaturesensors, pressure sensors, and/or other components. When the controller2424 determines that one or more of the sensors 2418 are occluded and/orrequire thermal management, the controller 2424 can operate the pump2404 and the delivery system 2470 to selectively heat and/or cool thefluid 2401 before opening one or more of the first fluid delivery valves2408 a and/or the second fluid delivery valves 2408 b to route theheated/cooled fluid 2401 along the first fluid delivery channels 2428 aand/or the second fluid delivery channels 2428 b corresponding to thesensors 2418 requiring cleaning and/or thermal management. Similarly,the controller 2424 can control the air source 2452 and/or selectivelyopen one or more of the air delivery valves 2460 to provide air flow tothe occluded sensors 2418. In some embodiments, air can be deliveredafter the fluid 2401 to, for example, dry the sensors 2418. In otherembodiments, the fluid 2401 and air can be delivered simultaneously, orair can be delivered before the fluid 2401.

In some embodiments, to simplify plumbing of the various channels, aquad-lumen tubing 2449 can be used—wherein (i) a first lumen carries thefluid 2401 traveling from the delivery system 2470 to the holdingchambers 2416, (ii) a second lumen carries the fluid 2401returning/recirculating from the heat exchangers and/or holding chambers2416 to the delivery system 2470 and the reservoir 2402, (iii) a thirdlumen carries cooling fluid from the delivery system 2470 to the heatexchangers, and (iv) a fourth lumen carries air from the delivery system2470 to the sensors 2418.

FIG. 25 is a schematic illustration of a vehicle component cleaning,drying, and thermal management system 2510 configured in accordance withanother embodiment of the present technology. The system 2510 isgenerally similar to the system 2410 described in detail with referenceto FIG. 34, but the valving of delivery system 2570 is illustrated ingreater detail. In the illustrated embodiment, a washer fluid pump 2504is configured to pump washer fluid 2501 from a reservoir 2502 to thedelivery system 2570. A first 3-way valve 2551 a receives the flow ofthe fluid 2501 and either directs the flow to a parasitic heater 2512 orbypasses the flow past the parasitic heater 2512. In either case, asecond 3-way valve 2551 b receives the flow of the fluid 2501 anddirects the flow to an electric heater 2513 or bypasses the flow pastthe electric heater 2513. Any of the fluid 2501 exiting the electricheater 2513 is routed to second fluid delivery valves 2508 b. Any of thefluid 2501 bypassing the electric heater 2513 is received by a third3-way valve 2551 c and directs the flow (i) to the second fluid deliveryvalves 2508 b or (ii) to a fluid chiller or cooler 2540 for cooling.Cooled fluid 2501 from the fluid cooler is directed to first fluiddelivery valves 2508 a. The first fluid delivery valves 2508 a can beselectively opened/closed to permit the cooled fluid 2501 to flow fromthe delivery system 2570 and along one or more parallel first fluiddelivery channels 2528 a to corresponding heat exchangers (not shown)configured to heat and/or cool nearby perception sensors 2518. Thesecond fluid delivery valves 2508 b can be selectively opened/closed topermit the heated/unheated fluid 2501 to flow from the delivery system2570 and along one or more parallel second fluid delivery channels 2528b to holding chambers 2516 and pre-nozzle check valves 2523 (e.g.,controller-operable solenoid valves, check valves, etc.). While sixfirst fluid delivery channels 2528 a and six second fluid deliverychannels 2528 b are shown in FIG. 25, the system 2510 can include anynumber of delivery channels.

To provide hot fluid 2501 during normal hot engine operation, thedelivery system 2570 is configured to route the fluid 2501 (i) from thefirst 3-way valve 2551 a to the parasitic heater 2512, (ii) from theparasitic heater 2512 to the second 3-way valve 2551 b, (iii) from thesecond 3-way valve 2551 b to the second fluid delivery valves 2508 b. Toprovide hot fluid 2501 during engine startup (or when the parasiticheater 2512 is otherwise unable to provide heated fluid), the deliverysystem 2570 is configured to route the fluid 2501 (i) from the first3-way valve 2551 a to the second 3-way valve 2551 b bypassing theparasitic heater 2512, (ii) from the second 3-way valve 2551 b to theelectric heater 2513, and (iii) from the electric heater 2513 to thesecond fluid delivery valves 2508 b. To provide unheated fluid 2501, thedelivery system 2570 is configured to route the fluid 2501 (i) from thefirst 3-way valve 2551 a to the second 3-way valve 2551 b bypassing theparasitic heater 2512, (ii) from the second 3-way valve 2551 b to thethird 3-way valve 2551 c bypassing the electric heater 2513, and (iii)from the third 3-way valve 2551 c to the second fluid delivery valves2508 b bypassing the fluid cooler 2540. To provide cooled fluid 2501,the delivery system 2570 is configured to route the fluid 2501 (i) fromthe first 3-way valve 2551 a to the second 3-way valve 2551 b bypassingthe parasitic heater 2512, (ii) from the second 3-way valve 2551 b tothe third 3-way valve 2551 c bypassing the electric heater 2513, and(iii) from the third 3-way valve 2551 c to fluid cooler 2540, and (iv)from the fluid cooler 2540 to the first fluid delivery valves 2508 a.

As one example, in the illustrated embodiment a first perception sensor2518 a needs to be cleaned and so hot fluid 2501 is directed to itssurface by opening a first one of the second fluid delivery valves 2508b-a and closing a return valve 2520 of the delivery system 2570 so thatthe pressure in a first holding chamber 2516 a exceeds the crackingpressure of a first pre-nozzle check valve 2523 a and the fluid 2501flows through and exits a first nozzle 2517 a. To maintain hot fluid2501 in the first holding chamber 2516 a, the fluid 2501 may berecirculated by opening (i) the first one of the second fluid deliveryvalves 2508 b-a and (ii) opening the return valve 2520 while pumpingheated fluid 2501 to the second fluid delivery valves 2508 b. The fluid2501 returning to the reservoir 2502 goes through a first return checkvalve 2532 a to a single return channel 2548 connected to the returnvalve 2520

The system 2510 further includes an air source 2552 connected to thedelivery system 2570. In the illustrated embodiment, a fourth 3-wayvalve 2551 d receives the air flow from the air source 2552 and directsthe air flow (i) to an air heater 2579 (which could be the parasiticheater 2512 and/or the electric heater 2513) or (ii) to bypass the airheater 2579. In either case, the air is directed to air delivery valves2560. The air delivery valves 2560 can be selectively opened/closed toallow air to flow from the delivery system 2570 and along one or moreparallel air delivery channels 2558 to air delivery nozzles (not shown)configured to direct the air against the sensors 2518.

As a second example, in the illustrated embodiment a second perceptionsensor 2518 b needs to be cleaned, cooled, and air dried. Accordingly,heated fluid 2501 can be directed to a second nozzle 2517 b by opening asecond one of the second fluid delivery valves 2508 b-b and closing thereturn valve 2520, as described in detail above. Similarly, a cooledfluid 2501 can be directed to the second perception sensor 2518 b byopening a second one of the first fluid delivery valves 2508 a-b andopening the return valve 2520. The fluid 2501 used to cool the secondperception sensor 2518 b is subsequently returned to the delivery system2570 via a second return check valve 2532 b to the return channel 2548.Similarly, heated or unheated air can be directed against the secondperception sensor 2518 b by opening a second one of the air deliveryvalves 2560 b.

In some embodiments, any of the 3-way valves 2551 a-2551 d can bevariable aperture valves or other types of valves.

VII. SELECTED EMBODIMENTS OF PERCEPTION SURFACE CLEANING SYSTEMS WITHMULTIPLE DELIVERY SYSTEMS

Referring again to FIG. 1, in some embodiments of the present technologya cleaning system (e.g., the cleaning system 110) can distribute fluidsto clean and/or cool vehicle components (e.g., the sensors 108 and/orthe perception surfaces 109) using any suitable combination of valves,manifolds, etc. For example, in some embodiments the cleaning system 110can distribute fluid to one or more channels by selectivelyopening/closing one or more valves (e.g., electrically-actuated solenoidvalves) co-located at (e.g., mounted to or built into) a shared deliverysystem or manifold. In other embodiments, the valves may be locateddistant from one another. In other embodiments, the cleaning system 110includes one or more rotary valves that are adjustable to distribute thefluid to the channels.

In some embodiments, the cleaning system includes two or more deliverysystems arranged hierarchically. That is, for example, a centralcollection of valves (e.g., a first or central delivery system) canroute fluid to a plurality of first channels which can each distributethe fluid (i) either to a vehicle component to be cleaned (ii) or toanother collection of valves (e.g., a second or peripheral deliverysystem), which can route the fluid on to one or more second channels. Insome such embodiments, each delivery system is configured to selectivelydirect flow to between three and eight channels, using between three andeight valves. In some embodiments, the delivery systems are connected inseries to comprise a system capable of selectively directing flow to alarger number of channels. In some embodiments, if the delivery systemsprovide more channels than are required, one or more of the channels canbe plugged instead of fluidly connected to a valve. In some embodiments,each delivery system connects to an electronic circuit board (e.g., viaa modular electrical connector) configured to control the function ofthe valves.

In one aspect of the present technology, the use of multiple deliverysystem is advantageous when multiple sensors are located near to eachother but remote from a central delivery system. For example, a centraldelivery system may be in the engine compartment of a vehicle, a clusterof sensors may be located on the rear bumper of the vehicle, and anothercluster of sensors may be located on the roof of the vehicle. Byutilizing multiple delivery systems to hierarchically route the fluid,the length and size of tubing traversing the vehicle may be greatlyreduced.

Accordingly, FIGS. 26-28 are schematic illustrations more specificallyillustrating various embodiments of closed-loop systems for cleaningvehicle components and including multiple, distributed delivery systemsconfigured in accordance with embodiments of the present technology. Thedetailed description of each embodiment focuses mainly on thosecomponents that are new/different as compared to other embodiments.However, one skilled in the art will appreciate that the variousembodiments can (i) include the same or generally similar features(e.g., components, configurations, etc.), (ii) operate the same orgenerally similarly, and/or (iii) that the various embodiments can becombined. Further, one skilled in the art will appreciate that thevarious embodiments discussed with reference to FIGS. 26-28 can (i)include the same or generally similar features (e.g., components,configurations, etc.) as those embodiments discussed with reference toFIGS. 2-25, (ii) operate the same or generally similarly as thoseembodiments discussed with reference to FIGS. 2-25, and/or (iii) thatthe various embodiments can be combined with each other and/or with theembodiments discussed with reference to FIGS. 2-25. Moreover, one ofordinary skill in the art will appreciate that the number of componentscan vary in the following embodiments. For example, the systems of thepresent technology can have any number of delivery channels, returnchannels, sensors, heaters, chillers, heat exchangers, nozzles, etc.

FIG. 26 is a schematic illustration of a perception surface cleaningsystem 2610 including multiple, hierarchically arranged delivery systemsconfigured in accordance with an embodiment of the present technology.In the illustrated embodiment, the system 2610 includes a washer fluidpump 2604 configured to pump washer fluid 2601 from a reservoir 2602 toa first delivery system 2606 a (e.g., a manifold, valve system, etc.)having a plurality of first fluid delivery valves 2608 a. The firstfluid delivery valves 2608 a can be selectively opened/closed to permitthe fluid 2601 to flow from the first delivery system 2606 a and alongone or more first delivery channels 2628 a. The first delivery channels2628 a can direct the fluid 2601 to one or more additional deliverysystems 2606 (e.g., a second delivery system 2606 b shown in FIG. 26)and/or one or more first perception sensors 2618 a to clean the firstperception sensors 2618 a. The second delivery system 2606 b includes aplurality of second fluid delivery valves 2608 b configured toselectively route the fluid 2601 along one or more second deliverychannels 2628 b to one or more additional delivery systems 2606 (e.g., athird delivery system 2606 c shown in FIG. 26) and/one or more secondperception sensors 2618 b to clean the second perception sensors 2618 b.The third delivery system 2606 c includes a plurality of third fluiddelivery valves 2608 c configured to selectively route the fluid 2601along one or more third delivery channels 2628 c to one or more thirdperception sensors 2618 c to clean the third perception sensors 2618 c.Accordingly, in the arrangement shown in FIG. 26, the delivery systems2606 are arranged in series.

FIG. 27 is a schematic illustration of a perception surface cleaningsystem 2710 including multiple delivery systems configured in accordancewith an embodiment of the present technology. In the illustratedembodiment, the system 2710 includes a washer fluid pump 2704 configuredto pump washer fluid 2701 from a reservoir 2702 to a first deliverysystem 2706 a (e.g., a manifold, valve system, etc.) having a pluralityof first fluid delivery valves 2708 a. The first fluid delivery valves2708 a can be selectively opened/closed to permit the fluid 2701 to flowfrom the first delivery system 2706 a and along one or more firstdelivery channels 2728 a to clean first perception sensors 2718 a. Inthe illustrated embodiment, the system 2710 further includes a seconddelivery system 2706 b connected to the first delivery system 2706 a viaa fluid channel 2703 such that the first delivery system 2706 a and thesecond delivery system 2706 b are arranged in parallel. The seconddelivery system 2706 b includes a plurality of second fluid deliveryvalves 2708 b that can be selectively opened/closed to permit the fluid2701 to flow from the second delivery system 2706 b and along one ormore second delivery channels 2728 b to clean second perception sensors2718 b. In other embodiments, one or more additional delivery systemscan be arranged in parallel with the first delivery system 2706 a and/orthe second delivery system 2706 b to, for example, increase the numberof fluid distribution channels available in a given region of a vehicle.In some embodiments, the first delivery system 2706 a and the seconddelivery system 2706 b are modular systems.

FIG. 28 is a schematic illustration of a perception surface cleaningsystem 2810 including multiple delivery systems configured in accordancewith another embodiment of the present technology. More particularly,the system 2810 includes several features generally similar to thesystem 2210 described in detail above with reference to FIG. 22 but, inthe illustrated embodiment, the system 2810 includes multiplehierarchically arranged delivery systems 2850, including a centraldelivery systems 2850 a and a plurality of peripheral delivery systems2850 b. In some embodiments, the peripheral delivery systems 2850 b canbe closer to perception sensors 2818 than the central delivery system2850 a. In one aspect of the present technology, this architecture maybe advantageous when the sensors 2818 are arranged in clusters remotefrom the central delivery system 2850 a. For example, the centraldelivery system 2850 a may be in the engine compartment of a vehicle,while the sensors 2818 may be located in clusters on the rear bumper ofthe vehicle, on the roof of the vehicle, etc. By utilizing multipledelivery systems to hierarchically route washer fluid, the length andsize of tubing traversing the vehicle may be greatly reduced.

In the illustrated embodiment, a pump 2804 is configured to deliverwasher fluid 2801 from a reservoir 2802 to the central delivery system2850 a for heating via a heater 2812. An air source comprising an aircompressor 2857 and a compressed air accumulator 2859 is configured toprovide air flow to the central delivery system 2850 a, which includes aplurality of central delivery valves 2808 a. The central delivery valves2808 a can be selectively opened/closed to divide and deliver the fluid2801 and/or air along one or more parallel first delivery channels 2828a to the peripheral delivery systems 2850 b.

Individual ones of the peripheral delivery systems 2850 b can includeperipheral delivery valves 2808 b that can be selectively opened/closedto divide and deliver the fluid 2801 and/or air along one or moreparallel second delivery channels 2828 b to holding chambers 2816. Eachof the holding chambers 2816 is fluidly connected to an air and fluiddelivery nozzle 2864 via a pre-nozzle check valve 2821. The pre-nozzlecheck valves 2821 are configured to selectively fluidly connect theholding chambers 2816 to corresponding (i) ones of the nozzles 2864 or(ii) second return channels 2826 b configured to return the fluid 2801and/or air to the peripheral delivery systems 2850 b and, moreparticularly, through second return valves 2820 b of the peripheraldelivery systems 2850 b. For example, in the illustrated embodiment eachof the second return channels 2826 b includes a second return checkvalve 2832 b, and the second return channels 2826 b are merged together(e.g., via a T-connector) into a single channel received by thecorresponding one of the second return valves 2820 b. Each of theperipheral delivery systems 2850 b is, in turn, further connected to thecentral delivery system 2850 a via first return channels 2826 a. Thefirst return channels 2826 a can each include a first return check valve2832 a and can be merged together (e.g., via a T-connector) into asingle channel received by a single first return valve 2820 a of thecentral delivery system 2850 a. As described in detail above, thisarrangement allows for the recirculation of the fluid 2801 and/or airfrom the holding chambers 2816 to the fluid reservoir 2802.

A controller 2824 can be operably coupled to the pump 2804, the airsource (e.g., the air compressor 2857), the central delivery system 2850a, the peripheral delivery systems 2850 b, the sensors 2818, and any oneor combination of additional sensors (e.g., temperature sensors,pressure sensors, etc.) When the controller 2824 determines that one ormore of the sensors 2818 are occluded, the controller 2824 can route thefluid 2801 and/or air to the nozzles 2864 corresponding to the occludedsensors 2818 to clean and/or dry the corresponding occluded sensors2818. More specifically, the controller 2824 can close the first returnvalve 2820 a of the central delivery system 2850 a and the second returnvalve 2820 b of the corresponding peripheral delivery system 2850 bwhile operating the pump 2804 and/or the air source (e.g., the aircompressor 2857) to increase the pressure in the second deliverychannels 2828 b above the cracking-pressure of the pre-nozzle checkvalves 2821. To recirculate the fluid 2801, both the first return valve2820 a of the central delivery system 2850 a and the second return valve2820 b of the corresponding one of the peripheral delivery systems 2850b can be opened, and the pump 2804 and/or the air source activated torecirculate the fluid 2801 and/or air to the reservoir 2802. The firstreturn check valves 2832 a and the second return check valves 2832 b areconfigured to inhibit backflow during recirculation.

VIII. SELECTED EMBODIMENTS OF FLUID HOLDING, FLUID HEATING, AND/ORFORCED AIRFLOW DEVICES

As described in detail above, some embodiments of the present technologycan include fluid holding chambers configured to receive fluid (e.g.,washer fluid) and hold and/or heat the fluid before delivering the fluidto a nozzle. In some embodiments, the fluid is heated and held within adesired temperature range within the holding chambers so that it isready to be delivered. The holding chambers can be positioned proximateto the nozzles to, for example, reduce the distance the heated fluidmust travel for delivery and therefore reduce fluid heat loss. In someembodiments, a flow divider can be connected to and/or integrally formedwith one or more of the holding chambers such that the heated fluid canbe subdivided after leaving the holding chamber for, for example,delivery to multiple perception surfaces or sensors.

In one aspect of the present technology, the holding chambers areconfigured to hold a minimum volume of fluid such that they can (i) varya fluid pulse volume and/or (ii) deliver a series of fluid pulses in ashort period of time. The larger the volume of fluid, the more energy isrequired for heating, and the longer the fluid will take to heat.Accordingly, the volume of fluid held within each of the heatingchambers can be between an upper limit and a lower limit relative to adesired pulse volume. In some embodiments, each of the holding chamberscan hold between one and five times the expected pulse volume for aparticular channel. For example, if a sensor's required average fluidpulse is five milliliters, the holding chamber can hold between 5-25milliliters of fluid. Likewise, if a sensor's required average fluidpulse is 25 milliliters, the holding chamber can hold between 25-125milliliters of fluid. In certain embodiments, the holding chambers areconfigured to hold about two times the expected pulse volume for anassociated sensor surface.

Heat loss from a holding chamber to its surroundings is inefficient andwastes vehicle energy. Accordingly, in some embodiments the heatingchambers are configured to minimize heat loss to the surroundingenvironment. For example, the holding chambers can be designed tominimize a ratio of surface area to volume to minimize heat transferaway from the holding chambers. For example, the heating chambers canhave a ratio of surface area (SA) to volume (V) of about 1 cm⁻¹, orabout the value defined by the function SA/V=6.2V^(−0.33). Moreover, theholding chambers can be thermally insulated. For example, outer surfacesof the holding chambers can be fully or partially covered by aninsulating material which reduces conductive heat transfer to the outersurfaces. In some embodiments, each of the holding chambers can beinsulated by an outer shell which is separated from the outer surface ofthe heating chamber by a gap (e.g., an air gap, a vacuum gap, etc.). Inyet other embodiments, the outer surfaces of the holding chambers can becovered with material (e.g., a thin layer of foil or other reflectivematerial) which reflects radiated heat emitted from the chambers backinto the chambers.

As cooler fluid may be less effective at cleaning surfaces than hotterfluid, delivery of fluid not within the desired temperature range shouldbe minimized. Accordingly, in some embodiments the heating chambers canbe located proximate to the nozzles configured to deliver the fluid forcleaning perception sensors or other vehicle components. This canminimize the heat lost by the fluid during transport from the holdingchambers to the perception sensors. More specifically, in someembodiments the volume of fluid located in the flow path between theheating chambers and the nozzles is less than 20% of the volume of theaverage fluid pulse for the corresponding channels. For example, if afluid pulse of 10 milliliters is used to clean a specific sensor, thevolume of fluid between the heating chamber and the nozzle can be lessthan 2 milliliters. If this fluid is contained within a four-millimeterinner diameter hose, this equates to roughly 15 centimeters of hoselength. As a further example, if a fluid pulse of 50 milliliters is usedto clean a sensor, the volume of fluid between the heating chamber andthe nozzle can be less than about 10 milliliters, or roughly 80centimeters of four-millimeter inner diameter tubing.

In some embodiments, the fluid channels between the heating chambers andthe nozzles can be insulated (e.g., covered with insulation) to reduceconductive and/or radiative heat transfer. In some embodiments, oneone-way check valves are built into the heating chambers such that fluidmay flow in a direction from the chamber to the nozzle, but not from thenozzle to the heating chamber.

In some embodiments, holding chambers can be configured as heatingchambers including heating elements (e.g., electric heating elements)for heating washer fluid therein. In some embodiments, the heatingchambers include a phase change material (PCM) used to store thermalenergy and to provide the thermal energy to washer fluid flowing intothe heating chambers. The electric heating elements may heat the fluiddirectly, or the electric heating elements may heat the PCM directly,and heat may be transferred to the fluid from the PCM. As described indetail above, in some embodiments unheated fluid is pumped into aholding chamber after fluid is delivered from a holding chamber througha nozzle to replace the delivered fluid. With electric heating only, thespeed at which this fluid is heated to the desired temperature islimited by the power of the heater, which in turn may be limited byavailable electric current from the vehicle. However, when a PCM ispresent, a substantial amount of thermal energy is available at aconstant temperature until the PCM has completely changed phase.Therefore, a lower rate of electric heating may be provided to a heatingchamber when washer fluid is not being pumped, and a portion of thisenergy may be stored in the PCM so that it can be quickly extracted whenneeded. In some embodiments, a specific PCM can be selected to limit theupper temperature of the washer fluid. For example, the upper limit canbe between about 50-65° C. As heat is applied to the PCM, thetemperature of the fluid in the holding chamber will rise until itreaches the phase change temperature of the PCM. At that temperature,the addition of thermal energy does not raise the temperature, butrather drives the PCM's phase transition (for example, from solid toliquid phase). In this manner, heating via a PCM may be used asprotection for over-heating the fluid. Moreover, the time in which thePCM may heat fluid is limited only by the heat transfer propertiesinternal to the system, which may enable much faster heating than withelectric heating only and/or may allow the system to use a lower peakelectric current.

In some embodiments, heating chambers are configured to enable thedelivery of forced air. For example, in some embodiments a heatingchamber can include (i) a fluid inlet port for receiving fluid into theheating chamber, (ii) an air inlet port for receiving airflow into theheating chamber or a separate chamber, and (iii) one or more outletports for connecting the air flow and fluid flow to a nozzle. In somesuch embodiments, the forced air pathway connects with the fluid pathwayafter the heating chamber such that airflow does not disrupt thecontents of the heating chamber, but forces fluid from the outlet portand the nozzle such that air is emitted from the nozzle (e.g., onto avehicle component to be cleaned). In other embodiments, the forced airpathway connects with the fluid pathway within the heating chamber suchthat airflow forces fluid from the heating chamber through the nozzlebefore air flows from the nozzle onto the perception surface to becleaned. Following the delivery of fluid and air, a fluid pump canrefill the heating chamber with washer fluid.

In some embodiments, forced air can be delivered to evacuate fluidtubing to, for example, inhibit of even prevent fluid from freezingwithin the tubing. For example, a fluid heating and forced airflowdevice can include a channel including a fluid valve which regulatesfluid flow into the channel, a fluid lumen carrying fluid to a heatingchamber, an air valve which regulates air flow into the channel, an airlumen carrying air to a point where it joins the fluid outflow of theheating chamber, and a check valve configured to prevent fluid flow intothe air lumen. When fluid delivery is desired, the fluid valve can beopened, and a fluid pump can push fluid through the fluid lumen, theheating chamber, and a nozzle configured to receive the fluid and airoutflow and direct it against a vehicle component. When air delivery isdesired, the fluid pump can be turned off, the fluid valve can beclosed, and the air valve can be opened to allow airflow to eject fluidfrom a short span of tubing between the heating chamber and the nozzlebefore spraying air on the perception surface. When evacuation of thesystem is desired for freeze protection, the air valve can be opened toallow air flow to eject liquid from the span of tubing between theheating chamber and the nozzle, and then the fluid valve can be openedto allow the forced air to push fluid out of the heating chamber and outof fluid lumen back into a fluid reservoir. When the system isrestarted, the fluid pump can refill the fluid lumen and heating chamberwith fluid.

In some embodiments, a heating chamber is configured to enableself-pumping. For example, the heating chamber can include (i) a fluidinlet port controlled by a one-way check valve that only allows fluidflow from the fluid inlet port into the heating chamber and (ii) a fluidoutlet port controlled by a variable (e.g., solenoid) valve. Washerfluid can be heated within the heating chamber to a temperature abovethe boiling point of methanol, causing a rapid rise in the pressurewithin the heating chamber. When methanol boils, its vapor phaseaccumulates at the top of the heating chamber, while washer fluid exitstowards the solenoid valve and a nozzle from the bottom of the heatingchamber. When the solenoid valve opens, the expanding gas forciblyejects the fluid through the nozzle. When the solenoid valve is closed,the remaining fluid in the chamber will cool, creating a vacuum, pullingfluid from the reservoir back into the chamber.

FIGS. 29-36 are cross-sectional views more specifically illustratingvarious embodiments of fluid holding, fluid heating, and/or forcedairflow devices configured in accordance with embodiments of the presenttechnology. The detailed description of each embodiment focuses mainlyon those components that are new/different as compared to otherembodiments. However, one skilled in the art will appreciate that thevarious embodiments can (i) include the same or generally similarfeatures (e.g., components, configurations, etc.), (ii) operate the sameor generally similarly, and/or (iii) that the various embodiments can becombined. Further, one skilled in the art will appreciate that thevarious embodiments discussed with reference to FIGS. 29-36 can becombined/incorporated with each other and/or the embodiments discussedwith reference to FIGS. 2-28.

FIG. 29 is a cross-sectional view of a fluid holding device 2980configured in accordance with an embodiment of the present technology.In the illustrated embodiment, the fluid holding device 2980 includes afluid holding chamber 2982 connected to an inlet port 2981, areturn/recirculation port 2983, and an outlet port 2985. The fluidholding device 2980 further includes a pressure-actuated check valve(e.g., a pre-nozzle check valve) comprising a spring 2992 and a seal2994. The seal 2994 is configured to block/seal a check valve aperture2986 to prevent fluid from flowing from the holding chamber 2982 throughthe outlet port 2985. More specifically, the check valve aperture 2986remains blocked when the pressure within the holding chamber 2982 is toolow to compress the spring 2992 and depress the seal 2994. However, whenthe pressure in the holding chamber 2982 exceeds the cracking pressure,the spring 2992 compresses and depresses the seal 2994—unsealing thecheck valve aperture 2986 and allowing fluid (e.g., washer fluid) toexit via the outlet port 2985 and to flow to, for example, a deliverynozzle.

In one aspect of the embodiment illustrated in FIG. 29, the fluidholding device 2980 includes an integrated check-valve. Therefore, insome embodiments the fluid holding device 2980 comprises a single devicethat could be incorporated into any of the embodiments described indetail above to integrate a holding chamber into a pre-nozzle checkvalve. As one representative example, the fluid holding device 2980could be incorporated into the system 1110 described in detail withreference to FIG. 1110 to replace any pair of the holding chambers 1116and the pre-nozzle check valves 1121.

FIG. 30 is a cross-sectional view of a fluid heating device 3080configured in accordance with an embodiment of the present technology.In the illustrated embodiment, the device 3080 includes a fluid holdingchamber 3082 connected to an inlet port 3081 and an outlet port 3085.Fluid (e.g., washer fluid) can enter the holding chamber 3082 via theinlet port 3081 and can exit the holding chamber 3082 via the outletport 3085. In some embodiments, a one-way check valve 3084 is positionedwithin the holding chamber 3082 and configured to prevent fluidback-flow from the outlet port 3085 into the holding chamber 3082. Inthe illustrated embodiment, the device 3080 includes an electric heatingelement 3094 configured to heat a fluid in the holding chamber 3082. Theelectric heating element 3094 can be connected to a controller and/or apower bus by electrical leads 3093. In some embodiments, the leads 3093can be configured to transmit signals (e.g., temperature signals) sensedfrom within the holding chamber 3082 (e.g., via one or more sensors; notshown). The device 3080 can also include thermal insulation 3095configured to limit heat loss from the fluid to the environment.

In some embodiments, the device 3080 can be positioned proximate to awasher fluid nozzle in a cleaning system. Thus, in one aspect of thepresent technology, the device 3080 is configured to provide localizedheating and holding of heated fluids proximate to delivery nozzles orother components for cleaning vehicle components.

FIG. 31 is a cross-sectional view of a fluid heating device 3180configured in accordance with another embodiment of the presenttechnology. In the illustrated embodiment, the device 3180 includes afluid holding chamber 3182 connected to an inlet port 3181 and an outletport 3185. Fluid (e.g., washer fluid) can enter the holding chamber 3182via the inlet port 3181 and can exit the holding chamber 3182 via theoutlet port 3185. A one-way check valve 3184 is positioned within theholding chamber 3182 and configured to prevent fluid back-flow from theoutlet port 3185 into the holding chamber 3182.

In the illustrated embodiment, the device 3180 further includes a phasechange material chamber 3196 positioned within the holding chamber 3182or otherwise thermally coupled to the holding chamber 3082. An electricheating element 3194 is connected to a controller and/or a power bus byelectrical leads 3193 and is configured to heat a phase change materialin the phase change material chamber 3196 to thereby heat the fluid inthe holding chamber 3182 to, for example, a target temperature range. Insome embodiments, the phase change material is selected such that itchanges phase within the target temperature range. For example, thetarget temperature of the fluid in the holding chamber 3182 may bebetween about 45-55° C. and the phase change material can be selected toshift phases at about 53° C. In some embodiments, the electric heatingelement 3194 is coupled to a controller configured to provide trickleheating to maintain the temperature of both the washer fluid and thephase change material at 55° C., maintaining the phase change materialin its elevated state. When the fluid in the holding chamber 3182 isexpelled via the outlet port 3185 (e.g., to be sprayed onto a vehiclecomponent), it can be replaced with cold fluid via the inlet port 3181.The electric heating element 3194 can transfer heat to the cold fluidvia the phase change material to thereby accelerate re-heating of theholding chamber 3182 and the fluid therein. In some embodiments, thedevice 3180 can also include thermal insulation 3195 (e.g., an outerblanket of insulation) configured to limit heat loss from the holdingchamber 3182 and the phase change material chamber 3196 to theenvironment.

In some embodiments, the holding chamber 3182 is configured to hold(e.g., has a volume of about) about 50 milliliters of fluid and thephase change material chamber 3196 is configured to hold about 60milliliters of an organic phase change material that melts at 63° C.with a latent heat of 150 kilojoules per kilogram and a specific gravityof 0.91. In such embodiments, the thermal energy released by the phasechange material as it solidifies is 8.2 kilojoules—enough heat to raisethe temperature of 20 milliliters of washer fluid by 120° C. (or twiceby 60° C.). In this manner, an electric vehicle including the device3180 could pre-heat the phase change material and the initial volume ofwasher fluid in the holding chamber 3182 while charging, and stillretain enough energy to deliver 60 milliliters of heated fluid (e.g., insix pulses of 10 milliliters each). The vehicle would only expend energyon maintaining the temperature of the holding chamber 3182 thereafter.

FIG. 32 is a cross-sectional view of a fluid heating and forced airflowdevice 3280 configured in accordance with an embodiment of the presenttechnology. In the illustrated embodiment, the device 3280 includes afluid holding chamber 3282 connected to a fluid inlet port 3281 and afluid outlet port 3285. Fluid (e.g., washer fluid) can enter the holdingchamber 3282 via the fluid inlet port 3281 and can exit the holdingchamber 3282 via the fluid outlet port 3285. A one-way check valve 3284is positioned within the holding chamber 3282 and configured to preventfluid back-flow from the fluid outlet port 3285 into the holding chamber3282. An electric heating element 3294 is configured to heat the fluidin the holding chamber 3282, and thermal insulation 3295 is configuredto limit heat loss from the holding chamber 3282 to the environment. Inthe illustrated embodiment, the device 3280 further includes a forcedair inlet 3297 and a forced air outlet 3299 separated by a forced airone-way valve 3298. The forced air outlet 3299 can join the fluid outletport 3285 (e.g., at a T-junction) for outlet and delivery to a nearbyvehicle component.

FIG. 33 is a cross-sectional view of a fluid heating and forced airflowdevice 3380 configured in accordance with another embodiment of thepresent technology. In the illustrated embodiment, the device 3380includes a fluid holding chamber 3382 connected to a fluid inlet port3381 and an air holding chamber 3302 connected to an air inlet port3397. The fluid holding chamber 3382 and the air holding chamber 3302are connected to a common plenum 3301 via a first one-way check valve3384 and a second one-way check valve 3398, respectively. The plenum3301 is, in turn, connected to an outlet port 3306 configured to deliverfluid and air to a nearby perception sensor. An electric heating element3394 is configured to heat the fluid in the fluid holding chamber 3382,and thermal insulation 3395 is configured to limit heat loss from thefluid holding chamber 3382 to the environment. In some embodiments,washer fluid may be provided to outlet port 3306 (e.g., to a nozzle) forcleaning when fluid is pumped, and air may be provided to the outletport 3306 for surface drying when air flows. Air and washer fluid may betransported to the fluid inlet port 3381 and the air inlet port 3397 bytwo separate tubes or within two lumens in a dual-lumen tube.

FIG. 34 is a partially-schematic, cross-sectional view of a fluidheating and forced airflow device 3480 configured in accordance withanother embodiment of the present technology. In the illustratedembodiment, the device 3480 includes a holding chamber 3403 connected toa fluid inlet port 3481, an air inlet port 3497, a return/recirculationport 3483, and a common air and fluid outlet port 3406. The holdingchamber 3403 is connected to (i) the outlet port 3406 via a firstone-way check valve 3407 and the (ii) air inlet port 3497 via a secondone-way check valve 3498. The outlet port 3406 is configured to deliverfluid and/or air to a nearby vehicle component to clean and/or dry thevehicle component. An electric heating element 3494 is configured toheat fluid and/or air in the holding chamber 3403, and thermalinsulation 3495 is configured to limit heat loss from the holdingchamber 3403 to the environment.

In the illustrated embodiment, a fluid pump 3404 is connected to thefluid inlet port 3481 via a fluid distribution channel and a fluiddistribution valve 3408 and is configured to selectively route fluidfrom a fluid reservoir 3402 to the holding chamber 3403. An air source3452 is connected to the air inlet port 3497 via an air distributionchannel and air distribution valve 3460 and is configured to selectivelyroute air to the holding chamber 3403. The second one-way check valve3498 can prevent fluid from flowing back into the air inlet port 3497from the holding chamber 3403. The fluid reservoir 3402 is connected tothe return port 3483 of the holding chamber 3403 via a return channeland return valve 3420 which can be selectively opened/closed to allowfluid and/or air to return to the reservoir 3402.

When fluid delivery is desired, the pump 3404 pumps fluid into theholding chamber 3403 while the return valve 3420 remains closed, therebyincreasing the pressure within the holding chamber 3403 above thecracking pressure of the first one-way valve 3407. This allows the fluidto flow through the outlet port 3406 to a nozzle or other deliveryelement. If forced air delivery is subsequently desired, the air source3452 can pump/force air into the holding chamber 3403 to expel the fluidin the holding chamber 3403 through the first one-way valve 3407 and theoutlet port 3406. When the volume of fluid in the holding chamber 3403has been reduced or depleted, air may then flow out the first one-wayvalve 3407 and the outlet port 3406 to the nozzle. To refill the holdingchamber 3403 with fluid, fluid is pumped into the holding chamber 3403while the return valve 3420 is open. This allows the holding chamber3403 to fill with fluid and forces air and fluid through the return port3483. In some embodiments, if freeze prevention is desired, air may beforced into the holding chamber 3403 while the return valve 3420 is opento evacuate any fluid in the holding chamber 3403.

FIG. 35 is a partially-schematic, cross-sectional view of a fluidheating and forced airflow device 3580 configured in accordance withanother embodiment of the present technology. In the illustratedembodiment, the device 3580 includes (i) a fluid holding chamber 3582connected to a fluid inlet port 3581 via first one-way check valve 3512and (ii) an air holding chamber 3509 connected to an air inlet port 3597via a second one-way valve 3598. The fluid holding chamber 3582 and theair holding chamber 3509 are connected to a common outlet port 3506 viaa selectable valve 3513 (e.g., a solenoid valve) and a third one-waycheck valve 3514, respectively. An electric heating element 3594 isconfigured to heat the fluid in the fluid holding chamber 3582, andthermal insulation 3595 is configured to limit heat loss from the fluidholding chamber 3582 and/or the air holding chamber 3509 to theenvironment.

In the illustrated embodiment, a movable piston 3510 separates the fluidholding chamber 3582 from the air holding chamber 3509 and is coupled toa spring 3511. Under normal conditions, the selectable valve 3513 isclosed, and the fluid pump 3504 maintains pressure in the washer fluidholding chamber 3582. This pressure drives the piston 3510 toward theair inlet port 3597 (e.g., toward the left of the page in FIG. 35),thereby compressing the spring 3511. When fluid delivery is desired, theselectable valve 3513 is opened and heated fluid exits through theoutlet port 3506. This reduces the pressure within the fluid holdingchamber 3582 and permits the piston 3510 to be driven toward the fluidinlet port 3581 (e.g., toward the right of the page in FIG. 35) by thespring 3511. Movement of the piston 3510 toward the fluid inlet port3581 draws air into the air holding chamber 3509. Once a pulse of fluidis ejected through the outlet port 3506, the selectable valve 3513closes—increasing the pressure in the fluid holding chamber 3582 due tothe pressure flow of fluid provided by the pump 3504. This pressureagain drives the piston 3510 toward the air inlet port 3597, whichdrives air from the air holding chamber 3509 and through the outlet port3506.

Therefore, in one aspect of the present technology, the device 3580 isconfigured to deliver both heated fluid and forced air using only thepressure from the fluid pump 3504. That is, forced air delivery isachieved without the need for a pressurized air source.

FIG. 36 is a partially-schematic, cross-sectional view of a fluidheating and forced airflow device 3680 configured in accordance withanother embodiment of the present technology. In the illustratedembodiment, the device 3680 includes (i) a fluid holding chamber 3682connected to a fluid inlet port 3681 via first one-way check valve 3612and (ii) an air holding chamber 3609 connected to an air inlet port 3697via a second one-way valve 3698. The fluid holding chamber 3682 and theair holding chamber 3609 are connected to a common outlet port 3606 viaa third one-way check valve 3613 and a fourth one-way check valve 3614,respectively. An electric heating element 3694 is configured to heat thefluid in the fluid holding chamber 3682, and thermal insulation 3695 isconfigured to limit heat loss from the fluid holding chamber 3682 and/orthe air holding chamber 3609 to the environment. A movable piston 3610separates the fluid holding chamber 3682 from the air holding chamber3609 and is coupled to a spring 3611.

In the illustrated embodiment, the air inlet port 3697 is connected toan air source 3652 via a selectable valve (e.g., a solenoid valve) 3660.The fluid inlet port 3681 is connected to a fluid reservoir 3602. Undernormal conditions, the fluid holding chamber 3682 is filled with fluidand (ii) the air holding chamber 3609 and the fluid holding chamber 3682are at near-ambient pressure such that the spring 3611 is extended andthe piston 3610 is extended (e.g., in a most-extend position) toward theair inlet port 3697 (e.g., toward the left of the page in FIG. 36). Whenfluid delivery is desired, the selectable valve 3660 is opened and airflows into the air holding chamber 3609. This increases the pressurewithin the air holding chamber 3609 and drives the piston toward thefluid inlet port 3681 (e.g., toward the right of the page in FIG. 36).Movement of the piston 3610 toward the fluid inlet port 3681 increasesthe pressure in the fluid holding chamber 3682 until the crackingpressure of the third one-way check valve 3613 is exceeded and fluid isexpelled through the outlet port 3606 to a nozzle or other deliveryelement. The piston 3610 eventually stops moving as the spring 3611compresses until the air pressure in the air holding chamber 3609exceeds the cracking pressure of the fourth one-way check valve 3614,which drives air from the air holding chamber 3609 through the fourthone-way check valve 3614 and through the outlet port 3606 to the nozzleor other delivery element. When the selectable valve 3660 is closed, thepressure in the air holding chamber 3609 returns to ambient, and thespring 3611 extends and drives the piston 3610 toward the air inlet port3697. This movement of the piston 3610 draws fluid from the reservoir3602 into the fluid holding chamber 3682.

Therefore, in one aspect of the present technology, the device 3680 isconfigured to deliver both heated fluid and forced air using only thepressure from the air source 3652. That is, heated fluid delivery isachieved without the need for a fluid pump.

IX. SELECTED EMBODIMENTS OF DELIVERY/RETURN CHANNELS

Because washer fluid and forced air distribution systems may be designedto deliver air and/or fluid to twenty or more vehicle components (e.g.,surfaces, sensors, etc.), the management of tubing within a vehicle maybecome quite complex. In some embodiments, the routing, mounting, andtracing may be significantly easier for a co-extruded bundle of tubesthan a collection of individual tubes. Similarly, because recirculatingwasher fluid systems bring washer fluid to and back from componentlocations around the vehicle, and forced air systems bring air to thesame points, using co-extruded multi-lumen tubing may greatly simplifysuch systems.

Accordingly, FIG. 37 includes several cross-sectional views ofmulti-lumen tubing for fluid and/or air delivery and/or recirculationconfigured in accordance with embodiments of the present technology. Insome embodiments, a selected fluid delivery channel and the associatedreturn channel can be combined in a single tube 3702 having twoequally-sized lumen. In some embodiments of systems including forced airdelivery, fluid delivery, and fluid recirculation the various deliveryand return channels can be combined in a tube 3706 having three equalsized lumens in a linear (e.g. planar) arrangement or a tube 3708 havingthree equally sized lumens in a bunched arrangement. In someembodiments, the washer fluid and/or of forced air can flow atsignificantly different flow velocities. Accordingly, the variousdelivery and return channels can be combined in a tube 3710 having threeunequally-sized lumens in a linear arrangement or a tube 3712 havingthree unequally sized lumens in a bunched arrangement. In yet otherembodiments, a tube 3704 having two unequally sized lumens can be usedto, for example, combine fluid delivery and return channels. As one ofordinary skill in the art will appreciate, many other configurations ofmulti-lumen tubing are within the scope of the present technology.

In some embodiments, the various tube lumens can be used to carry wiresinstead of or in addition to fluid and air. Such wires can include, forexample, any wires necessary to sense, control, and/or operate localizedheating elements within distributed heating chambers.

X. SELECTED EMBODIMENTS OF FLUID HEATING

Referring again to FIG. 1, in some embodiments the cleaning system 110is configured to heat fluid such that it has a temperature of betweenabout 35-60° C. when it is held within one or more holding and/orheating chambers positioned near corresponding vehicle components (e.g.,corresponding ones of the sensors 108 and/or perception surfaces 109).In some embodiments, a target temperature within each chamber may bedifferent based on, for example, a surface to be cleaned, a vehicleoperating state, ambient weather conditions, etc. For example, thecleaning system 110 may have one or more preset temperature targetmodes, and each channel (corresponding to a chamber) may be assigned oneof these preset modes which determines the temperature to which it willheat fluid held in its heating chamber. For example, the cleaning system110 can have a high temperature mode set to 60° C., a medium mode set to45° C., a low temperature mode set to 30° C., and/or an ambienttemperature mode in which no heating is provided. The cleaning system110 can determine which mode to assign to each channel through the useof inputs, such as inputs from ambient temperature sensors orinformation conveyed by a vehicle control system.

In some embodiments, the vehicle 100 is an electric vehicle having oneor more batteries and the cleaning system 110 is configured to pre-heatfluid during charging of the batteries. That is, initial fluid heatingmay be performed while the vehicle 100 is charging to minimize energyconsumption from the batteries of the vehicle 100 during operation.

In some embodiments, the cleaning system 110 is configured heat fluidwithin one or more heating chambers using closed-loop temperaturecontrol of electric resistance heating elements. Accordingly, one ormore electric resistance heating elements and one or more temperaturesensors can be located within each heating chamber. The temperature inthe heating chamber can be measured on one or more heating elements, inthe fluid in the heating chamber, or elsewhere in the heating chamber.In some embodiments, bang-bang heating control is done wherein power tothe one or more heating elements is turned on when the measuredtemperature is below a first threshold value and is turned off when itis above a second threshold value. In other embodiments, power providedto the one or more heating elements is reduced to reduce the heatingrate. For example, power can be reduced via pulse width modulation ofthe electrical circuit of each heating element to reduce the averagevoltage provided to the one or more heating elements. In yet otherembodiments, heating power is reduced by low frequency switching of thepower to the one or more heating elements, such as turning the heaterson for several seconds and then off for several seconds. In someembodiments, heating power is increased or reduced based on thedifference between the measured temperature and a target temperature.

In some embodiments, the cleaning system 110 is configured to heat fluidwithin one or more heating chambers using uncontrolled positivetemperature coefficient fluid heating within the heating chambers. Forexample, the heating can be done by providing electric power to positivetemperature coefficient heating elements positioned at and/or within theheating chambers. The cleaning system 110 can provide a constant voltageto the positive temperature coefficient heating elements or a modulatedvoltage to, for example, control the heating rate or the equilibriumtemperature of the heating elements.

In some embodiments, the cleaning system 110 is configured to heat fluidwithin one or more heating chambers using switched positive temperaturecoefficient fluid heating within the heating chambers. For example, theheating can be done by independently controlling the electric power topositive temperature coefficient heating elements positioned at and/orwithin the heating chambers. In other embodiments, the heating chamberscan be grouped, and the electric power can be modulated to each group ofassociated heating elements. Each heating chamber can contain one ormore one positive temperature coefficient heating elements that can havethe same or different power ratings, the same or different equilibriumtemperatures, and/or can be controlled together or independently.

FIG. 38 is a graph of fluid temperature versus time for the heating ofwasher fluid within a heating chamber (e.g., by a cleaning system, suchas the cleaning system 110 of FIG. 1) in accordance with embodiments ofthe present technology. In the illustrated embodiment, the fluid heatingsystem provides an initial rapid fluid heating 3806 curve such that thewasher fluid temperature rises quickly to a lower limit 3802 of a targettemperature range. This can provide the washer fluid with enough thermalenergy to reduce its viscosity, increase its flow rate, and improve itscleaning ability. Once the lower limit 2802 of the target temperaturerange is reached, the fluid heating system may manage the expenditure ofpower in different ways to reduce power draw from the vehicle. If poweris readily available, heating may continue as before, following thecurve 3808 denoting continued rapid fluid heating. If cumulative powermanagement is needed, the fluid heating system may reduce the powerprovided to the heater in the heating chamber, resulting in a reducedpower fluid heating curve 3810. In extreme cases, power may be greatlyreduced, as in a curve 3812 denoting power-limited fluid heating. Insome embodiments, heating may be turned off, yielding pauses in heating(and associated temperature decline)—denoted by a first paused heatingperiod 3814 and a second paused heating period 3818. The fluid heatingsystem may intermittently have power available, allowing the system tocontinue heating as shown by a resumed power-limited heating curve 3816,and a second resumed power-limited heating curve 3820 until an upperlimit 3804 of the target temperature range is achieved. Once the upperlimit 3084 is reached, heating is reduced, stopped, or the temperatureis thermostatically controlled at a minimal heating rate required tooffset thermal losses to the environment.

XI. SELECTED EMBODIMENTS OF PULSED FLUID DELIVERY

Referring again to FIG. 1, in some embodiments the cleaning system 110is configured to deliver fluid to clean vehicle components in pulses asone or more fluid delivery valves are opened and subsequently closed(while a fluid pump operates) to deliver the fluid along selectedchannels to corresponding ones of the fluid delivery components 114. Insome embodiments, the parameters which control the pulse may be presetand correspond to the vehicle component to be cleaned such that eachvehicle component (e.g., a surface thereof) receives an appropriateamount of fluid. In some embodiments, each vehicle component to becleaned has a standard set of parameters which control the delivery of afluid pulse. These parameters may be added to, subtracted from,multiplied, or divided based on changes to input parameters whichinclude an ambient temperature, a temperature of the fluid, a detectedocclusion severity, a mode of vehicle operation, a location of thevehicle 100, and/or other factors. In some embodiments, standard pulsesfor warmed fluid delivery are set to be between 0.5-5 milliliters persquare centimeter of surface area to be cleaned.

In some embodiments, each fluid pulse is controlled by actuating thepump and the delivery valves for a preset time. The preset time may bedifferent for each vehicle component to be cleaned and may change basedon other sensed parameters. For example, longer duration pulses mayoccur when ambient temperatures are lower or detected occlusions aresevere. In some embodiments, the delivery of each fluid pulse may becontrolled to deliver a specified volume of fluid. This volume may bedifferent for each vehicle component to be cleaned and may change basedon other sensed parameters. For example, larger volume pulses may occurwhen ambient temperatures are lower, and the viscosity of the deliveredfluid is greater (e.g., resulting in lower flow rates for a given pumppressure). As another example, pulse volumes may increase whendifficult-to-clean occlusions are sensed, perhaps such as insectsplatter, or may be decreased when minor occlusions like surface dustare detected.

XII. SELECTED EMBODIMENTS OF CLEANING SYSTEM CONTROL

Referring again to FIG. 1, in some embodiments an electronic controlsystem (e.g., the controller 106 of the vehicle delivery system 104and/or the controller 112 of the cleaning system 112) includes amicroprocessor configured to control/actuate the components of thecleaning system 110, such as one or more fluid pumps, valves, electricheaters, etc. The electronic control system can be separate from thevehicle control system 104 or can communicate with the vehicle controlsystem to receive signals, such as operating states of the vehicle 100,ambient temperatures, power limits, sensors to be cleaned, error signals(such as empty washer fluid reservoir), etc. In some embodiments, thevehicle control system 104 directly controls the cleaning system 110.

When the vehicle 100 is an electric vehicle, it is often important tomanage power and energy draw from the batteries of the vehicle 100. Thevehicle 100 can include energy management controls which prioritize andde-prioritize expenditure of stored electric energy on vehicle systems.When the cleaning system 110 uses electric energy to heat washer fluid,the vehicle 100 may command a state in the cleaning system 110 whichlimits electric power usage. In some embodiments, the vehicle controlsystem 104 communicates an operating state to the cleaning system 110,and the cleaning system 110 modifies the fluid heating temperaturesaccordingly.

In some embodiments, the vehicle control system 104 communicates anoperating state to the cleaning system 110, and the cleaning system 110manages the cumulative consumption of electricity from the cleaningsystem 110 to remain within a corresponding preset range. In otherembodiments, the vehicle control system 104 communicates a numericalvalue for a preset power limit to the cleaning system 110, and thecleaning system 110 allocates the cumulative power consumption of thesystem to stay within this limit.

In some embodiments, the cleaning system 110 includes one or more energystorage devices in which in which electrical energy may be stored over aperiod and released for fluid heating and valve operation over a shorterperiod. The energy storage devices can be batteries, capacitors, and/orother devices. The energy storage devices can be located proximate toone or more fluid heating chambers and the heating elements containedtherein. In such embodiments, small wires may carry low electric currentover longer spans to the energy storage devices, and larger wires cancarry the higher currents from the energy storage devices to the heatingelements over a shorter distance. In some embodiments, the energystorage devices are designed to hold enough energy to heat the washerfluid within a heating chamber by about 50° C., can store between 1-10kilojoules of electrical energy, and/or can release their stored energyin less than 30 seconds.

XIII. EXEMPLARY SYSTEM

Referring again to FIG. 1, in some embodiments, the cleaning system 110includes 20 parallel fluid delivery channels, 15 of which service small,5 square centimeter camera sensor surfaces, and 5 of which servicelarger, 25 square centimeter LIDAR sensor surfaces. In some embodiments,maintaining the cleanliness of the LIDAR sensor surfaces can berelatively more important than maintaining the cleanliness of the camerasurfaces. When a camera surface occlusion is detected, delivery of a10-milliliter bolus of heated fluid is specified. In line, just beforenozzles configured to clean the camera surfaces, each channel can have a20-milliliter heating chamber including a 20-watt electric heatercapable of heating the volume from 0° C. to 30° C. in less than threeminutes, and to 55° C. in less than ten minutes. To clean the LIDARsurfaces, a 50-milliliter bolus of heated fluid is specified. In line,just before the LIDAR surfaces, each channel has a 100-milliliterheating chamber including a 100-watt electric heater.

Accordingly, operating all 20 channels at maximum power can requires 800watts. This power can be available from the vehicle 100 while thevehicle 100 is charging (in the case of an electric vehicle), or for ashort period of up to five minutes after start-up. After the start-upperiod, the cleaning system 110 can have a maximum allowable power drawof 130 watts. The system controller selectively applies this power tothe 20 fluid holding chambers to compensate for their heat loss and tomaintain their temperatures, or to reheat fluid in a chamber followingfluid delivery.

The cumulative heat loss from the holding chambers—even in very coldconditions—can total less than approximately 25 watts. Reheating a largeholding chamber following delivery of a pulse of fluid may draw as muchas approximately 100 watts if rapid reheating is allowed, or less, ifthe heating rate is throttled to limit system power. Cumulatively, thecleaning system 110 may see short peaks of 125-watt power draw but, overtime, the average power draw is expected to be much closer to 25 watts.When ambient temperatures are warmer, or when the target washer fluidtemperature is reduced, this power draw can be reduced considerably.

XIV. CONCLUSION

The above Detailed Description of examples of the present technology isnot intended to be exhaustive or to limit the present technology to theprecise form disclosed above. While specific examples for the presenttechnology are described above for illustrative purposes, variousequivalent modifications are possible within the scope of the presenttechnology, as those skilled in the relevant art will recognize. Forexample, while processes or blocks are presented in a given order,alternative implementations may perform routines having steps, or employsystems having blocks, in a different order, and some processes orblocks may be deleted, moved, added, subdivided, combined, and/ormodified to provide alternative or sub-combinations. Each of theseprocesses or blocks may be implemented in a variety of different ways.Also, while processes or blocks are at times shown as being performed inseries, these processes or blocks may instead be performed orimplemented in parallel, or may be performed at different times.Further, any specific numbers noted herein are only examples;alternative implementations may employ differing values or ranges.

These and other changes can be made to the present technology in lightof the above Detailed Description. While the Detailed Descriptiondescribes certain examples of the present technology as well as the bestmode contemplated, the present technology can be practiced in many ways,no matter how detailed the above description appears in text. Details ofthe system may vary considerably in its specific implementation, whilestill being encompassed by the technology disclosed herein. As notedabove, particular terminology used when describing certain features oraspects of the present technology should not be taken to imply that theterminology is being redefined herein to be restricted to any specificcharacteristics, features, or aspects of the present technology withwhich that terminology is associated. Accordingly, the presenttechnology is not limited, except as by the appended claims. In general,the terms used in the following claims should not be construed to limitthe present technology to the specific examples disclosed in thespecification, unless the above Detailed Description section explicitlydefines such terms.

Although certain aspects of the present technology are presented belowin certain claim forms, the applicant contemplates the various aspectsof the present technology in any number of claim forms. Accordingly, theapplicant reserves the right to pursue additional claims after filingthis application to pursue such additional claim forms, in either thisapplication or in a continuing application.

We claim:
 1. A perception surface cleaning system for use a vehiclehaving perception components with perception surfaces, the systemcomprising: a reservoir configured to contain a washing fluid; a firstheater assembly coupled to the reservoir and configured to heat a flowof the washing fluid from the reservoir; a first conduit configured tocarry the flow of washing fluid from the first heater assembly; a valvemanifold having at least one activatable valve coupled to the firstconduit and being movable between open and closed positions to controlthe flow of washing through the valve manifold; a control system coupledto the valve manifold and configured to move the valve between the openand closed positions; a nozzle adjacent to a first perception componentand configured to direct washing fluid onto the perception surface; apump coupled to the first conduit and the reservoir and configured topump the flow of washer fluid toward the nozzle; a second conduitcoupled to the valve manifold and the fluid dispending nozzle, thesecond conduit configured to carry the flow of washing fluid toward thenozzle; a fluid holding chamber adjacent to the nozzle and connected tothe second conduit, the fluid holding chamber having a fluid chamberportion configured to retain a volume of the washing fluid for at leastone pulse washing fluid through the nozzle; and a second heater assemblyconnected to the fluid holding chamber and configured to heat the volumeof washing fluid in the fluid holding chamber.
 2. The system of claim 1wherein the first heater assembly is a parasitic heater and the secondheater assembly is an electric heater.
 3. The system of claim 1, furthercomprising a control valve between the fluid holding chamber and thenozzle, and a return channel coupled to the control valve and thereservoir, the return channel configured to selectively return washingfluid to the reservoir before the washing fluid reaches the nozzle. 4.The system of claim 1 wherein the fluid holding chamber has insulationcoupled to the fluid chamber portion to restrict heat loss from washingfluid in the fluid chamber portion.
 5. The system of claim 1 wherein thefluid holding chamber comprises a phase change material configured tostore thermal energy and provide the thermal energy to the washing fluidin or flowing to the fluid chamber portion.
 6. The system of claim 1wherein the first perception component is one of a plurality ofperception components, the nozzle is one of a plurality of nozzles, thesecond conduit having a plurality of conduit portions, and the fluidholding chamber is a first one of a plurality of fluid holding chambers,each nozzle is positioned adjacent to a respective one of the perceptioncomponents, and each nozzle is coupled to a respective one of the fluidholding chambers and to a respective one of the conduit portions, eachfluid holding chamber portion is adjacent to a respective one of thenozzles.
 7. A perception surface cleaning system for use a vehiclehaving perception components with perception surfaces, the systemcomprising: a reservoir configured to contain a washing fluid; a heaterassembly coupled to the reservoir and configured to heat a flow of thewashing fluid from the reservoir; a valve manifold having at least oneactivatable valve coupled to the reservoir and configured to receivewashing fluid from the reservoir, the valve being movable between openand closed positions to control the flow of washing through the valvemanifold; a control system coupled to the valve manifold and configuredto move the valve between the open and closed positions; a nozzleadjacent to a first perception component and configured to directwashing fluid onto the perception surface; a fluid holding chamberadjacent to the nozzle and configured to receive at least a portion ofthe flow of washing fluid from the valve manifold, the fluid holdingchamber having a fluid chamber portion configured to retain a volume ofthe washing fluid for delivery through the nozzle.
 8. The system ofclaim 7 wherein the first heater assembly is a first heater assembly,and further comprising a second heater assembly connected to the fluidholding chamber and configured to heat the volume of washing fluid inthe fluid holding chamber.
 9. The system of claim 8 wherein the firstheater assembly is a parasitic heater and the second heater assembly isan electric heater.
 10. The system of claim 7, further comprising a pumpcoupled configured to pump the flow of washing fluid through valvemanifold toward the fluid holding chamber and from the fluid holdingchamber through the nozzle toward the perception surface.
 11. The systemof claim 7, further comprising a control valve between the fluid holdingchamber and the nozzle, and a return channel coupled to the controlvalve and the reservoir, the return channel configured to selectivelyreturn washing fluid to the reservoir before the washing fluid reachesthe nozzle.
 12. The system of claim 11 wherein the control valve is athree-way valve configured to be opened and closed coupled to permit thefluid to flow to the nozzle or to the return channel.
 13. The system ofclaim 7 wherein the fluid holding chamber is insulated to restrict heatloss from washing fluid in the fluid chamber portion.
 14. The system ofclaim 7 wherein the fluid holding chamber comprises a phase changematerial configured to store thermal energy and provide the thermalenergy to the washing fluid in or flowing to the fluid holding chamber.15. The system of claim 14, wherein the first heater assembly is a firstheater assembly, and further comprising a second heater assemblyconnected to the fluid holding chamber, the phase change material isheated by the second heater assembly and heats the washing fluid in thefluid holding portion.
 16. The system of claim 7 wherein the fluidholding chamber has a fluid chamber configured to retain a fluid volumein the range of approximately 0.5-125 milliliters of washing fluid. 17.The system of claim 7 wherein the first perception component is one of aplurality of perception components, the nozzle is one of a plurality ofnozzles, the second conduit having a plurality of conduit portions, andthe fluid holding chamber is a first one of a plurality of fluid holdingchambers, each nozzle is positioned adjacent to a respective one of theperception components, and each nozzle is coupled to a respective one ofthe fluid holding chambers and to a respective one of the conduitportions, each fluid holding chamber portion is adjacent to a respectiveone of the nozzles.
 18. The system of claim 17 wherein the valvemanifold is activatable by the control system to selectively direct aflow of washing fluid to a selected one of the plurality of conduitportions for delivery through the respective nozzle connected to the oneof the plurality of conduit portion to the perception surface adjacentto the respective nozzle.
 19. The system of claim 17 wherein aconnection portion of a delivery conduit extends between the fluidholding chamber and the nozzle, wherein the connection portion of thedelivery conduit is sized to contain a volume of fluid corresponding toapproximately ½ of the volume of fluid dispensed in a pulse of the fluiddelivered to the perception component.
 20. A vehicle perceptioncomponent and washing system, comprising: a plurality of vehicle-mountedperception components spaced apart from each other on a vehicle; areservoir configured to contain a washing fluid; a first heater assemblycoupled to the reservoir and configured to heat a flow of the washingfluid from the reservoir; a valve manifold having a plurality ofactivatable valves coupled to the reservoir and configured to receivewashing fluid from the reservoir, the valves being movable between openand closed positions to control the flow of washing through themanifold; a control system coupled to the valve manifold and configuredto selective move the valves between the open and closed positions; aplurality of nozzles, each nozzle positioned adjacent to a respectiveone of the components and configured to direct washing fluid onto theperception surface of the respective one of the components; a pluralityof fluid holding chambers, each fluid holding chamber positionedadjacent to a respective one of the plurality of nozzles and configuredto receive at least a portion of the flow of washing fluid from thevalve manifold, each fluid holding chamber having a fluid chamberportion configured to retain a volume of the washing fluid for deliverythrough the nozzle onto the perception surface of the perception module;and a plurality of second heater assemblies, each second heater assemblyconnected to a respective one of the plurality of fluid holding chambersand configured to heat the volume of washing fluid in the fluid holdingchamber.
 21. The system of claim 20 wherein the first heater assembly isa parasitic heater and each second heater assembly is an electricheater.
 22. The system of claim 20, wherein the perception componentscomprise at least three components including a window, a camera, and aradar unit.